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http://dx.doi.org/10.5302/J.ICROS.2005.11.5.463

Precision Calibration of Gyroscopes for Improving Dead-Reckoning Accuracy in Mobile Robots  

Ko Jae-Pyung (동아대학교 미디어디바이스 연구센터)
Yun Jae-Mu (부산대학교 전자공학과)
Lee Jang-Myung (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.5, 2005 , pp. 463-470 More about this Journal
Abstract
This paper describes a method aimed at improving dead-reckoning accuracy with gyroscopes in mobile robots. The method is a precision calibration procedure for gyroscopes, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency. This paper also describes the methods of gyro data collection fur all ambient temperature$(-40^{\circ}C{\~}+80^{\circ}C)$ using cubic spline interpolation and defining the error function. The sensor used was a vibrating gyroscope called the EWTS82NA21, which is low lost and commonly used in car navigation system, made by Panasonic. This angular rate sensor utilizes Coriolis force generated by a vibrating tuning fork. The paper also provides experimental results to check the performance and the effectiveness of the proposed method.
Keywords
gyroscope; dead-reckoning; precision calibration method; cubic spline interpolation; mobile robot;
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