By Topic

Accelerometer for mobile robot positioning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Liu, H.H.S. ; Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong ; Pang, G.K.H.

An 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 travelled 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

Published in:

Industry Applications, IEEE Transactions on  (Volume:37 ,  Issue: 3 )