Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot

Hadar Zemer; Reut Sarel; Itzik Klein

doi:10.1109/MED.2019.8798581

Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot

Hadar Zemer, Reut Sarel, Itzik Klein

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.

Original language	English
Title of host publication	27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	524-529
Number of pages	6
ISBN (Electronic)	9781728128030
DOIs	https://doi.org/10.1109/MED.2019.8798581
State	Published - Jul 2019
Externally published	Yes
Event	27th Mediterranean Conference on Control and Automation, MED 2019 - Akko, Israel Duration: 1 Jul 2019 → 4 Jul 2019

Publication series

Name	27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings

Conference

Conference	27th Mediterranean Conference on Control and Automation, MED 2019
Country/Territory	Israel
City	Akko
Period	1/07/19 → 4/07/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

Computer Science Applications
Control and Optimization
Modeling and Simulation

Access to Document

10.1109/MED.2019.8798581

Cite this

Zemer, H., Sarel, R., & Klein, I. (2019). Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings (pp. 524-529). Article 8798581 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2019.8798581

Zemer, Hadar ; Sarel, Reut ; Klein, Itzik. / Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot. 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 524-529 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).

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abstract = "Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.",

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Zemer, H, Sarel, R & Klein, I 2019, Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot. in 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings., 8798581, 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 524-529, 27th Mediterranean Conference on Control and Automation, MED 2019, Akko, Israel, 1/07/19. https://doi.org/10.1109/MED.2019.8798581

Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot. / Zemer, Hadar; Sarel, Reut; Klein, Itzik.
27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 524-529 8798581 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.

AB - Gyro-free Inertial Navigation System (GFINS) uses only linear accelerometers in order to determine the linear and angular acceleration vectors. However, for ground robot applications, such a system is redundant and adds unnecessary errors of irrelevant accelerometers. To circumvent this, a partial GFINS configuration is proposed. In the partial configuration only accelerations relevant for two-dimensional ground navigation are employed. A demonstration of the advantages of a partial system compared to the redundant system is provided. The comparison is made using quality factor calculations, simulation and field experiments.

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Zemer H, Sarel R, Klein I. Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. p. 524-529. 8798581. (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). doi: 10.1109/MED.2019.8798581

Feasibility study of a partial gyro-free inertial navigation system mounted on a ground robot

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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