Solid-state six degree of freedom, motion sensor for field robotic applications

Author

Madni, Asad M. ; Bapna, Deepak ; Levin, Paul ; Krotkov, Eric

Author_Institution

BEI Sensors & Syst. Co. Inc., Sylmar, CA, USA

Volume

3

fYear

1998

fDate

13-17 Oct 1998

Firstpage

1389

Abstract

A solid-state inertial measurement unit (IMU) referred to as the MotionPak^TM is described. The IMU developed by BEI Sensors & Systems Company, consists of three micromachined quartz rate sensors and three accelerometers to provide a six degree of freedom (DOF), miniature, high reliability, low cost motion sensor which Carnegie Mellon University is utilizing to adapt to field robotic applications. Theory of operation and applications of the IMU are presented together with preliminary results in fusing the IMU data with a compass for a field robotics application

Keywords

accelerometers; angular velocity measurement; gyroscopes; inertial navigation; mobile robots; motion control; motion measurement; path planning; piezoelectric transducers; Carnegie Mellon University; MotionPak; accelerometers; field robots; micromachined quartz rate sensors; solid-state inertial measurement unit; solid-state six degree of freedom motion sensor; Accelerometers; Costs; Extraterrestrial measurements; Global Positioning System; Jamming; Land vehicles; Road vehicles; Robot sensing systems; Sensor systems and applications; Solid state circuits;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724782

Filename

724782