Integration of Inertial Sensor Data into Control of the Mobile Platform
Abstract
The paper presents the designed algorithm, which is able to integrate of inertial sensor data into control algorithm. Autonomous operation of the mobile system requires reliable measurement of its position. Sources of such data are various; most commonly used is global satellite navigational system. However, this technique can be used only outdoors. For navigation inside building, under metal roof or underground only inertial or contact methods are available. This article analyzes possibilities of deployment of the inertial navigation in the control of the wheeled mobile platform. Experimental platform uses inertial measurement unit x-IMU manufactured by x-IO Technologies. According to our experiments inertial navigation can be reliably used only in fusion with other absolute sensors (odometers, magnetometers).
Keywords
Local Coordinate System Mobile Platform Inertial Navigation System Global Coordinate System Forward SpeedNotes
Acknowledgment
The contribution is sponsored by VEGA MŠ SR No 1/0367/15 prepared project “Research and development of a new autonomous system for checking a trajectory of a robot”.
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