Evaluation of a low-cost MEMS accelerometer for distance measurement
Evaluation of a low-cost MEMS accelerometer for distance measurement
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DOI：
10.1023/a:1008113324758
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发表时间：
2001-03-01
影响因子：
3.3
通讯作者：
Liu, H
中科院分区：
文献类型：
--
作者：
Pang, G;Liu, H
本文给出了一个低成本的MEMS加速度计的评价。加速度计用于移动的机器人或平台在短时间内的距离测量。通过传感器信号与时间的双重积分获得行进的距离。加速度信号中表现出的偏置偏移漂移是累积的，并且由于积分，距离测量的精度会随着时间而劣化。这个问题可以通过借助外部测量的位置、速度和姿态进行定期重新校准来解决。这些外部信号可以由惯性系统计算。卡尔曼滤波器可以使用这些值之间的差异来提供系统误差的最佳估计。实验测得加速度计的随机零漂为2.5mg。当加速度计放置在室温下时，由于温度引起的偏置漂移率为0.108 μ g/s。通过适当的重力补偿，加速度计可以作为移动的机器人的短时间距离测量装置的可行的解决方案。
This paper gives an evaluation of a low-cost MEMS accelerometer. The accelerometer is intended for the distance measurement of a mobile robot or platform in short duration. The distance traveled is obtained by double integration of the sensor signal with time. Bias offset drift exhibited in the acceleration signal is accumulative and the accuracy of the distance measurement can deteriorate with time due to the integration. This problem can be fixed by periodic recalibration with the help of external measurements on position, velocity and attitude. These external signals can be calculated by an inertial system. A Kalman filter can use the differences between these values to provide an optimum estimate of the system error. The random bias drift of the accelerometer was found by experiment to be 2.5 mg. The bias drift rate due to temperature was 0.108 mug/s when the accelerometer was placed at room temperature. With proper compensation on gravitation, the accelerometer can be a viable solution as a short duration distance-measuring device for a mobile robot.