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Emanuel Oliveira, Vítor Santos * Centre for Mechanical Technology and Automation

SIRS 2000. Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot. Emanuel Oliveira, Vítor Santos * Centre for Mechanical Technology and Automation Dept. Mechanical Engineering - University of Aveiro 3810-193 Aveiro Portugal. * E-mail: {eamaral, vsantos}@mec.ua.pt.

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Emanuel Oliveira, Vítor Santos * Centre for Mechanical Technology and Automation

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  1. SIRS2000 Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Emanuel Oliveira, Vítor Santos * Centre for Mechanical Technology and Automation Dept. Mechanical Engineering - University of Aveiro 3810-193 Aveiro Portugal * E-mail: {eamaral, vsantos}@mec.ua.pt

  2. Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Contents: 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope and odometers performance on irregular floor 7. Conclusions SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  3. What is a Laser Gyroscope? 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction w 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot A device that measures angular rotation by using internal generated, counter-propagating, optical beams. Sagnac effect for Open-loop fibre optic interferometers SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  4. Gyroscope applications 1. Introduction 2. Gyroscope specifications Industry Navigation 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Avionics Automotive industry General industry Naval Underwater Land vehicles Mobile robots Mobile robots Steering gear Tilt sensing Car navigation Platform stabilization Breaking system Motion sensing SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  5. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  6. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  7. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  8. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  9. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  10. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  11. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Mobile robots SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  12. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Gyroscope in mobile robots Gyroscope in mobile robots When used in dead-reckoning, it can: - increase accuracy in short-term information; - reduce the requirements in absolute position updates. SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  13. Autogyro from KVH Industries Main specifications 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  14. 1. Introduction Drift rate definition: 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Output signal when the gyroscope is not rotating around its sensitive axis. SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  15. 1. Introduction Drift rate definition: 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Output signal when the gyroscope is not rotating around its sensitive axis. Random and systematic components SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  16. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Drift rate definition: Output signal when the gyroscope is not rotating around its sensitive axis. Random and systematic components SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  17. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Drift rate definition: Output signal when the gyroscope is not rotating around its sensitive axis. Random and systematic components SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  18. Drift rate compensation 1. Introduction 2. Gyroscope specifications 100 samples 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot -0.126 º/s Subtract to the subsequent gyroscope outputs SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  19. Orientation variation measurement using ultrasonic sensors 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Measurement accuracy d1(max)= d2(max)=5mm  max<1º  max<1º Dept. of Mechanical Engineering- Aveiro University

  20. Orientation variation measurement using ultrasonic sensors 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  21. Orientation error without any correction 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  22. Correction factor calculation 1. Introduction 2. Gyroscope specifications where (t,) - rotation rate at the instant t and temperature  3. Drift rate compensation () - correction factor at temperature  4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot If temperature is constant for all integration period† †In practice the temperature varied less than 0.5 ºC in a 20 sec test. SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  23. Correction factor calculation 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Using least square method... z(t)CW = -1.86810-3t + 1.050 z(t)CCW = -1.72410-3t + 1.048 SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  24. Results after calibration 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions z(t)CW = -1.86810-3t + 1.050 z(t)CCW = -1.72410-3t + 1.048 Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot z(t) = -1.79610-3t + 1.049 SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  25. 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Before After Improvement of ca. 60% in absolute orientation accuracy SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  26. Gyroscope and odometer performance on irregular floor 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Real Gyroscope Odometers Dept. of Mechanical Engineering- Aveiro University

  27. Gyroscope and odometer performance on irregular floor 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  28. Gyroscope and odometer performance on irregular floor 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  29. Conclusions 1. Introduction 2. Gyroscope specifications 3. Drift rate compensation 4. Orientation error correction 5. Results 6. Gyroscope/odometers performance 7. Conclusions Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot • Temperature correction is very important in orientation errors compensation; • Using linear correction factor it lead to 60% improvement in orientation accuracy • Non linear correction factor or piecewise linear fitting can improve results for a higher temperature range. • Gyroscope is an essential sensor for outdoors environment navigation. • Gyroscope was immune to bumps and wheel slippage (the most relevant errors in odometry). SIRS2000 Dept. of Mechanical Engineering- Aveiro University

  30. Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Emanuel Oliveira, Vítor Santos * Centre for Mechanical Technology and Automation Dept. Mechanical Engineering - University of Aveiro 3810-193 Aveiro Portugal * E-mail: {eamaral, vsantos}@mec.ua.pt

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