Kalvach et al., 2012 - Google Patents
Estimation of inclination angle for balancing robots based on physical modelKalvach et al., 2012
View PDF- Document ID
- 6577820656009227023
- Author
- Kalvach A
- Dabóczi T
- Publication year
- Publication venue
- 2012 IEEE International Instrumentation and Measurement Technology Conference Proceedings
External Links
Snippet
This paper presents a method for calculating the accurate inclination angle of a balancing robot using accelerometers and optionally angular rate sensor (rate gyroscope), based on systematic correction of sensor errors. The correction is calculated on the basis of physical …
- 230000001133 acceleration 0 abstract description 61
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
- G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5719—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces using planar vibrating masses driven in a translation vibration along an axis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
- G01C9/08—Means for compensating acceleration forces due to movement of instrument
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5783—Mountings or housings not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments and devices referred to in the preceding groups
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments and devices referred to in the preceding groups initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4281777B2 (en) | Mobile object with tilt angle estimation mechanism | |
| CN102192741B (en) | Stabilised estimation of the pitch angles of an aircraft | |
| US20070088477A1 (en) | Vehicle gyro based steering assembly angle and angular rate sensor | |
| Min et al. | Complementary filter design for angle estimation using mems accelerometer and gyroscope | |
| EP1653194B1 (en) | Azimuth/attitude detecting sensor | |
| CN107356938A (en) | A kind of unmanned boat two-dimensional laser radar autostabiliazer unit and its control method | |
| CN110887481B (en) | Carrier dynamic attitude estimation method based on MEMS inertial sensor | |
| US20220155800A1 (en) | Method and apparatus for yaw fusion and aircraft | |
| EP2472225A2 (en) | Method and system for initial quaternion and attitude estimation | |
| US11669109B2 (en) | Method and apparatus for yaw fusion and aircraft | |
| US9321498B2 (en) | Method of estimating mounting angle error of gyroscopes by using a turning device, and corresponding turning device | |
| Hertig et al. | Unified state estimation for a ballbot | |
| CN106370178B (en) | Attitude measurement method and device of mobile terminal equipment | |
| US20220252399A1 (en) | Composite sensor and angular velocity correction method | |
| CN102288133B (en) | Installation deflection angle calibration method of gyro indirect stable system | |
| AU2015305864B2 (en) | Earthmoving machine comprising weighted state estimator | |
| CN112567097B (en) | Method for determining an angle of a working device of a machine | |
| CN108871323A (en) | A kind of high-precision navigation method of the low cost inertial sensor under motor-driven environment | |
| Aparna et al. | Imu based attitude estimation using adaptive complimentary filter | |
| CN108592918A (en) | The full attitude algorithm method of MEMS IMU under swaying base | |
| Kalvach et al. | Estimation of inclination angle for balancing robots based on physical model | |
| WO2021012635A1 (en) | Gyroscope information-based inertial navigation method | |
| US11796318B2 (en) | Rotation measurement system using Coriolis and Euler forces | |
| RU2339002C1 (en) | Method of evaluation of navigation parameters of operated mobile objects and related device for implementation thereof | |
| JP2023533065A (en) | Absolute Heading Estimation Using Constrained Motion |