Improving planetary rover attitude estimation via MEMS sensor characterization.
Improving planetary rover attitude estimation via MEMS sensor characterization.
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DOI：
10.3390/s120202219
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Barrientos A
中科院分区：
文献类型：
--
作者：
Hidalgo J;Poulakis P;Köhler J;Del-Cerro J;Barrientos A
微机电系统由于其在机械坚固性、低功耗、小质量和小尺寸以及在系统设计和容纳方面的显著优势方面具有适合航天器的性能水平，目前正在空间部门加以考虑。然而，人们对这些新传感器的性能和测试仍然缺乏了解，特别是在行星机器人方面。本文介绍了该领域所缺少的：一个完整的方法，关于表征和建模的MEMS传感器与直接应用。一个可重复的和完整的方法，包括所有的中间步骤，工具和实验室设备的描述。详细说明了传感器融合方案中传感器误差的表征和建模到最终集成的过程。虽然融合的概念相对容易理解，但仔细表征和过滤传感器信息并不是一件容易的事情，并且对于良好的性能至关重要。该方法的优势已被新型高等级MEMS惯性传感器和示例性行星漫游车平台的代表性测试所验证，结果令人鼓舞。
Micro Electro-Mechanical Systems (MEMS) are currently being considered in the space sector due to its suitable level of performance for spacecrafts in terms of mechanical robustness with low power consumption, small mass and size, and significant advantage in system design and accommodation. However, there is still a lack of understanding regarding the performance and testing of these new sensors, especially in planetary robotics. This paper presents what is missing in the field: a complete methodology regarding the characterization and modeling of MEMS sensors with direct application. A reproducible and complete approach including all the intermediate steps, tools and laboratory equipment is described. The process of sensor error characterization and modeling through to the final integration in the sensor fusion scheme is explained with detail. Although the concept of fusion is relatively easy to comprehend, carefully characterizing and filtering sensor information is not an easy task and is essential for good performance. The strength of the approach has been verified with representative tests of novel high-grade MEMS inertia sensors and exemplary planetary rover platforms with promising results.
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