شماره ركورد كنفرانس :
3208
عنوان مقاله :
Implementation of A Low- Cost Multi- IMU Hardware by Using a Homogenous Multi-Sensor Fusion
پديدآورندگان :
Rasoulzadeh, Raouf Department of Electrical - Biomedical and Mechatronics engineering - Qazvin Branch Islamic Azad University , Mohammad Shahri, Alireza Department of Electrical - Biomedical and Mechatronics engineering - Qazvin Branch Islamic Azad University
كليدواژه :
multi-sensor fusion , IMU , Kalman filter
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In this paper a homogenous multi-sensor fusion
method used to estimate true angular rate with combination of
four low cost MEMS Inertial Measurement Unit (IMU) in order
to reduce noise effects. A discrete-time Kalman filter designed to
combine output of four low accuracy sensors with price around
10$ to give more exact rate value. A hardware implemented to
test the method and results show the improvement in variance of
estimated angular rate more than 5 times and ARW error
reduction about 2 times respect to the single gyro. A comparison
between Kalman filtering and a simple averaging method was
performed that shows the improvement of accuracy can be more
than the averaging method.
