title: Minimal-Drift Heading Measurement using a MEMS Gyro for Indoor Mobile Robots.
abstract: To meet the challenges of making low-cost MEMS yaw rate gyros for the precise self-localization of indoor mobile robots, this paper examines a practical and effective method of minimizing drift on the heading angle that relies solely on integration of rate signals from a gyro. The main idea of the proposed approach is consists of two parts; 1) self-identification of calibration coefficients that affects long-term performance, and 2) threshold filter to reject the broadband noise component that affects short-term performance. Experimental results with the proposed phased method applied to Epson XV3500 gyro demonstrate that it effectively yields minimal drift heading angle measurements getting over major error sources in the MEMS gyro output.
authors.affiliation: Dept. of Aerospace Engineering, Sejong University, Seoul, 143-747, Korea. skhong@sejong.ac.kr.
authors.forename: Sung Kyung
authors.initials: SK
authors.lastname: Hong
authors.affiliation: Dept. of Aerospace Engineering, Sejong University, Seoul, 143-747, Korea.
authors.forename: Sungsu
authors.initials: S
authors.lastname: Park
keywords: MEMS gyro; drift; heading angle; self-identification; threshold filter