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HomeResourcesAttitude Angle Estimation for Agricultural Robot Navigation Based on Sensor Fusion with a low-cost IMU

Attitude Angle Estimation for Agricultural Robot Navigation Based on Sensor Fusion with a low-cost IMU



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https://tapipedia.org/sites/default/files/attitude_angle_estimation_for_agricultural_robot_navigation_based_on_sensor_fusion_with_a_low-cost_imu.pdf
DOI: 
https://doi.org/10.3182/20130327-3-JP-3017.00031
Provider: 
Elsevier
Licensing of resource: 
Rights subject to owner's permission
Type: 
conference paper
Author(s): 
Liu Y.
Noguchi N.
Ishii K.
Publisher(s): 
Elsevier
Description: 

The objective of this research was to explore the use of data information of a low-cost IMU to provide an attitude angle with acceptable accuracy for agricultural robot navigation. This work was an attempt to create attitude angle estimation system via sensor fusion method based on gyroscope and accelerometer in this low-cost IMU. The used algorithm processed and integrated the data from triple gyroscope and tri-axis accelerometer using a low-pass filter and Kalman filter. Under this algorithm, experiment data showed that the estimation precision was improved effectively. It can solve noise jamming, and realize attitude angle optimal estimation.

Publication year: 
2016
Keywords: 
Kalman Filter
Low-Pass Filter
Sensor Fusion
Attitude Estimation
IMU Sensor