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Article: Accelerometer for mobile robot positioning

TitleAccelerometer for mobile robot positioning
Authors
KeywordsAccelerometer
Distance Measurement
Issue Date2001
Citation
Ieee Transactions On Industry Applications, 2001, v. 37 n. 3, p. 812-819 How to Cite?
AbstractAn evaluation of a low-cost small-sized solid-state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal output by the sensor is doubly integrated with time, which yields the traveled distance. Bias offset drift exhibited in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. This problem can be fixed by periodic recalibration by the use of external measurements on position, velocity, and attitude which can be compared with the corresponding quantities calculated by the inertial system. A Kalman filter could use the differences between those values to provide an optimum estimate of the system error. The random bias drift of the accelerometer was found experimentally to be 2.5 mg. The accelerometer was moved back and forth three times for a distance of 40 cm with an acceleration of 8 m/s2. The final distance error accumulated was -1.08 cm. The bias drift rate due to temperature was 0.108 μg/s when the accelerometer was placed at room temperature. The results show that the accelerometer could be a viable solution as a short-duration distance-measuring device for a mobile robot or platform.
Persistent Identifierhttp://hdl.handle.net/10722/155146
ISSN
2015 Impact Factor: 1.901
2015 SCImago Journal Rankings: 1.388
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorLiu, HHSen_US
dc.contributor.authorPang, GKHen_US
dc.date.accessioned2012-08-08T08:32:04Z-
dc.date.available2012-08-08T08:32:04Z-
dc.date.issued2001en_US
dc.identifier.citationIeee Transactions On Industry Applications, 2001, v. 37 n. 3, p. 812-819en_US
dc.identifier.issn0093-9994en_US
dc.identifier.urihttp://hdl.handle.net/10722/155146-
dc.description.abstractAn evaluation of a low-cost small-sized solid-state accelerometer is described in this paper. The sensor is intended for positioning of a mobile robot or platform. The acceleration signal output by the sensor is doubly integrated with time, which yields the traveled distance. Bias offset drift exhibited in the acceleration signal is accumulative and the accuracy of the distance measurement deteriorates with time due to the integration. This problem can be fixed by periodic recalibration by the use of external measurements on position, velocity, and attitude which can be compared with the corresponding quantities calculated by the inertial system. A Kalman filter could use the differences between those values to provide an optimum estimate of the system error. The random bias drift of the accelerometer was found experimentally to be 2.5 mg. The accelerometer was moved back and forth three times for a distance of 40 cm with an acceleration of 8 m/s2. The final distance error accumulated was -1.08 cm. The bias drift rate due to temperature was 0.108 μg/s when the accelerometer was placed at room temperature. The results show that the accelerometer could be a viable solution as a short-duration distance-measuring device for a mobile robot or platform.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Industry Applicationsen_US
dc.subjectAccelerometeren_US
dc.subjectDistance Measurementen_US
dc.titleAccelerometer for mobile robot positioningen_US
dc.typeArticleen_US
dc.identifier.emailPang, GKH:gpang@eee.hku.hken_US
dc.identifier.authorityPang, GKH=rp00162en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1109/28.924763en_US
dc.identifier.scopuseid_2-s2.0-0035329535en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0035329535&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume37en_US
dc.identifier.issue3en_US
dc.identifier.spage812en_US
dc.identifier.epage819en_US
dc.identifier.isiWOS:000168904200020-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridLiu, HHS=7409749513en_US
dc.identifier.scopusauthoridPang, GKH=7103393283en_US

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