Compact self-contained navigation system with MEMS inertial sensor and optical navigation sensor for 3-D pipeline mapping

Dongjun Hyun, Minsu Jegal, Hyun Seok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

We propose a compact self-contained navigation system with Micro-Electro-Mechanical System (MEMS) inertial sensor and optical navigation sensor for 3-D pipeline mapping. Self-contained navigation system have advantages of robust against severe environmental conditions and also wide applications without external assist such as Global Positioning System (GPS) navigation or localization system based on a map. The goal of this study is to overcome the performance limitations of small, low-grade sensors by combining various sensors with complementary functions and, therefore, to achieve robust tracking performance against severe environmental conditions. The multi-rate EKF solves the frequent outage problem of the optical navigation sensors and the bias drift problem of the MEMS accelerometers. The vector matching algorithm with the gravity field vector solves the bias drift problem of the MEMS gyro except for the yaw in the reference axis. The geometry compensation algorithm minimizes position errors by combining the forward and backward estimation results geometrically. Experiments to verify performance are conducted by driving Radio-Controlled (RC) car equipped with the proposed navigation system on 3-D asphalt pavement. Experimental results show that the proposed navigation system has good performance and estimated position errors are less than one percent, in the range of 855 m. The proposed navigation system can contribute a compact size and robustness not only to 3-D pipeline mapping but also to small mobile robots.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages1488-1493
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Hyun, D., Jegal, M., & Yang, H. S. (2010). Compact self-contained navigation system with MEMS inertial sensor and optical navigation sensor for 3-D pipeline mapping. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 1488-1493). [5649766] https://doi.org/10.1109/IROS.2010.5649766