Inertial Navigation System for Mobile Land Vehicles - Industrial Electronics, 1995. ISIE '95., Proceedings of the IEEE International Symposium on
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چکیده
This paper describes a prototype of an inertial navigation system for use in mobile land vehicles, such as cars or mobile robots. The complete system is composed by sensors, their mechanical mount and cabling, these connect to a PC card with local processing and memory. based on a lniel 80Cl96KC micro-controller. The sensors used were a piezoelectric vibrating gyroscope, two silicon accelerometers, two clitionieters and ulso a magnetic flux-gate compass acting as uti independent sourcc for drvt compensation. The workinx principle of the vurious sensors are presented. The experimental setup used for testing is based on a robot ann controlled in real time to move the sensors along a known trajectory (velocity control).
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