Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Precision Calibration of Gyroscopes for Improving Dead-Reckoning Accuracy in Mobile Robots

이동로봇의 추측항법 정확성을 개선하기 위한 자이로스코프의 정확도 교정

  • 고재평 (동아대학교 미디어디바이스 연구센터) ;
  • 윤재무 (부산대학교 전자공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Published : 2005.05.01
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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.

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References

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