MIMU and Its Application in Mobile Robot’s Self-localization

摘要：

This paper introduces principium of Micro Inertial Measurement Unit (MIMU), designs a arrange form of MIMU. According to lots of experiment data, the gyroscopes drift and accelerometers warp are analyzed, and provides an AR(1) model. After Kalman filtering, the simulation results show that the bias of MIMU reduces to one tenth of the original, and prove this methodological feasible.

关键词： RoboCup self-localization MIMU inertial navigation

作者: Jin Guangming Zhang Guoliang Chen Linpeng Tian Qi

作者单位: The Second Artillery Engineering College,Xian,710025,China

会议类型: 国际会议

会议名称: 第八届国际电子测量与仪器学术会议(Proceedings of 2007 8th International Conference on Electronic Measurement & Instruments)

会议地点: 西安

会议语种:英文

在线出版日期: 2007-08-16（万方平台首次上网日期，不代表论文的发表时间）