Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization

Hidalgo, Javier and Poulakis, Pantelis and Johan, Köhler and Cerro Giner, Jaime del and Barrientos Cruz, Antonio (2012). Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization. "Sensors", v. 12 (n. 2); pp. 2219-2235. https://doi.org/10.3390/s1202022199.

Description

Title: Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization
Author/s:
  • Hidalgo, Javier
  • Poulakis, Pantelis
  • Johan, Köhler
  • Cerro Giner, Jaime del
  • Barrientos Cruz, Antonio
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 15 February 2012
Volume: 12
Subjects:
Freetext Keywords: micro-electro-mechanical systems (MEMS); inertial measurement unit (IMU); inertial navigation system (INS); sensor characterization; sensor fusion; attitude estimation; planetary rover
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Micro Electro-Mechanical Systems (MEMS) are currently being considered in the space sector due to its suitable level of performance for spacecrafts in terms of mechanical robustness with low power consumption, small mass and size, and significant advantage in system design and accommodation. However, there is still a lack of understanding regarding the performance and testing of these new sensors, especially in planetary robotics. This paper presents what is missing in the field: a complete methodology regarding the characterization and modeling of MEMS sensors with direct application. A reproducible and complete approach including all the intermediate steps, tools and laboratory equipment is described. The process of sensor error characterization and modeling through to the final integration in the sensor fusion scheme is explained with detail. Although the concept of fusion is relatively easy to comprehend, carefully characterizing and filtering sensor information is not an easy task and is essential for good performance. The strength of the approach has been verified with representative tests of novel high-grade MEMS inertia sensors and exemplary planetary rover platforms with promising results

More information

Item ID: 10361
DC Identifier: http://oa.upm.es/10361/
OAI Identifier: oai:oa.upm.es:10361
DOI: 10.3390/s1202022199
Official URL: http://www.mdpi.com/1424-8220/12/2/2219/
Deposited by: Antonio Barrientos
Deposited on: 17 Feb 2012 08:18
Last Modified: 20 Apr 2016 18:34
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