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Self localization using a 9DOF IMU sensor with a directional cosine matrix

Research output: Chapter in Book/Report/Conference proceedingConference paper

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
PublisherAmerican Society of Mechanical Engineers
Volume4
ISBN (Print)9780791855911
DOIs
Publication statusPublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: 4 Aug 20137 Aug 2013

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period4/08/20137/08/2013

King's Authors

Abstract

In the field of robotics, the most essential requirement for successful navigation is an accurate and numerically inexpensive method for self-localization. This paper presents a method that exploits the principles of directional cosines to setup a rotation matrix to deal with a closed loop PI feedback based model. The system uses a 9 degree of freedom (9DOF) sensor and exploits the benefits of the accuracy of a 3-axis gyroscope by leveraging the measurement of a 3-axis accelerometer and 3-axis magnetometer, which compensates and corrects the accumulative drift generated by integrating the gyroscope velocity measurements. The results show that the method is relatively accurate with a small level of error when compared to vision based glyph recognition and tracking methods for self-localization and is a sustainable method for removing accumulative drift.

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