Title | ||
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MEMS Gyro Bias Estimation in Accelerated Motions Using Sensor Fusion of Camera and Angular-Rate Gyroscope |
Abstract | ||
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Although the accuracy of MEMS gyroscopes has been extremely improved, in some aspects, such as stability of bias, they still suffer from some big error sources, like run-to-run bias, which determines the sensor price but is not negligible even inexpensive sensors. Due to the fact that run-to-run bias is a kind of stochastic parameter, it has to be measured by utilizing online methods. Utilizing a novel, fast and efficient vision-based rotation estimation algorithm for ground vehicles, we have developed a visual gyroscope that is used in our sensor fusion system, in order to estimate run-to-run bias of the MEMS gyroscope, accurately. Comparing with similar approaches that use GPS, odometer, accelerometer or magnetometer, the most important advantage of the proposed vision-based sensor-fusion framework is its accuracy in accelerated motions. Moreover, it can be used at environments that have a magnetic field, such as urban environments, without depending on external signals. We have evaluated the efficiency of the proposed system using real datasets, recorded from a car moving in urban areas. According to our experimental results, the proposed algorithm is capable of estimating bias of gyroscope after a convergence time of about 6 seconds and improving the accuracy of the MEMS gyroscope, which provides the possibility of using cheaper sensors for high-accuracy demands. |
Year | DOI | Venue |
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2020 | 10.1109/TVT.2020.2976975 | IEEE Transactions on Vehicular Technology |
Keywords | DocType | Volume |
Gyroscopes,Cameras,Estimation,Acceleration,Visualization,Micromechanical devices,Global Positioning System | Journal | 69 |
Issue | ISSN | Citations |
4 | 0018-9545 | 1 |
PageRank | References | Authors |
0.37 | 0 | 4 |
Name | Order | Citations | PageRank |
---|---|---|---|
Ali Nazemipour | 1 | 1 | 0.37 |
Mohammad Taghi Manzuri | 2 | 18 | 4.78 |
Danial Kamran | 3 | 1 | 0.37 |
Mahdi Karimian | 4 | 1 | 0.37 |