Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization

Hidalgo, Javier; Poulakis, Pantelis; Johan, Köhler; Cerro Giner, Jaime del y 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.

Descripción

Título: Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization
Autor/es:
  • Hidalgo, Javier
  • Poulakis, Pantelis
  • Johan, Köhler
  • Cerro Giner, Jaime del
  • Barrientos Cruz, Antonio
Tipo de Documento: Artículo
Título de Revista/Publicación: Sensors
Fecha: 15 Febrero 2012
Volumen: 12
Materias:
Palabras Clave Informales: micro-electro-mechanical systems (MEMS); inertial measurement unit (IMU); inertial navigation system (INS); sensor characterization; sensor fusion; attitude estimation; planetary rover
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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

Más información

ID de Registro: 10361
Identificador DC: http://oa.upm.es/10361/
Identificador OAI: oai:oa.upm.es:10361
Identificador DOI: 10.3390/s1202022199
URL Oficial: http://www.mdpi.com/1424-8220/12/2/2219/
Depositado por: Antonio Barrientos
Depositado el: 17 Feb 2012 08:18
Ultima Modificación: 20 Abr 2016 18:34
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