利用太阳方向估计车辆在崎岖地形上的姿态

Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Pub Date : 2003-09-23 DOI:10.1109/MFI-2003.2003.1232599

S. Furuki, S. Yuta

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引用次数: 6

摘要

我们对利用太阳方向测量漫游车在崎岖地形上移动时的姿态感兴趣。首先，推导了基于三维陀螺仪传感器、太阳方向传感器和重力传感器的姿态估计传感器融合公式;我们开发了一种太阳方向传感器的原型，即使在漫游车姿态动态变化的情况下，也能实现快速精确的测量。该传感器由一个二自由度机械旋转传感器基座和一个光学位置传感装置组成。该传感器通过控制二自由度传感器底座，使其传感器头朝向太阳。我们在移动机器人平台Yamabico AQURO上构建了一个由太阳方向传感器、三个陀螺仪传感器和一个加速度计组成的测试系统。

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Pose estimation of a vehicle on rough terrain by using the Sun direction

We are interested in the pose measurement of a rover using Sun direction while it moves on a rough terrain. First, we derived a sensor fusion formula to estimate rover pose from a three-dimensional gyro sensor, Sun direction sensor and gravity sensor. We developed a prototype of a Sun direction sensor, which can achieve fast and precise measurement even when rover pose changes dynamically. This sensor consists of a two-DOF mechanically rotational sensor base and an optical position sensing device. This sensor keeps its sensor head directed towards the Sun by controlling the two-DOF sensor base. We constructed a test system which consists of a Sun direction sensor, three gyro sensors, and an accelerometer on our mobile robot platform Yamabico AQURO.

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来源期刊

Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003.

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