scholarly journals A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

2021 ◽  
Keyword(s):  
Mobile Robots ◽  
Sensor Fusion ◽  
Wheeled Mobile Robots ◽  
Compensation Algorithm ◽  
Drift Compensation ◽  
Multiple Sensor

Optimal Sensor Fusion in Redundant Inertial Measurement Unit

2013 ◽  
Vol 433-435 ◽  
pp. 250-253 ◽  
Author(s):  
Xiao Qiang Dai ◽  
Lin Zhao ◽  
Zhen Shi
Keyword(s):  
Sensor Fusion ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Compensation Algorithm ◽  
Drift Compensation

In order to improve the reliability and accuracy of inertial navigation system in some navigation applications, the redundant inertial measurement unit (RIMU) is used. In this study, an optimal sensor fusion is introduced, and drift compensation based on this sensor fusion is presented subsequently. And the sensor fusion and drift compensation are combined into one algorithm. In this algorithm, faulty drift sensors are not isolated, but are compensated. So the redundant inertial navigation system can maintain systems redundancy. An errors model of RIMU was derived firstly, the optimal sensor fusion and the drift compensation algorithm were introduced secondly, and several simulations were carried out and proved effective of the proposed algorithm lastly.

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