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.
|Title of host publication||27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jul 2019|
|Event||27th Mediterranean Conference on Control and Automation, MED 2019 - Akko, Israel|
Duration: 1 Jul 2019 → 4 Jul 2019
|Name||27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings|
|Conference||27th Mediterranean Conference on Control and Automation, MED 2019|
|Period||1/07/19 → 4/07/19|
Bibliographical noteFunding Information:
Research supported by CRML lab, Electrical Engineering, Technion - Israel Institute of Technology.
* Research supported by CRML lab, Electrical Engineering, Technion – Israel Institute of Technology. Hadar Zemer Author is with Technion – Israel Institute of Technology, Haifa, Israel, E-mail: firstname.lastname@example.org
© 2019 IEEE.
ASJC Scopus subject areas
- Computer Science Applications
- Control and Optimization
- Modeling and Simulation