A miniature, low-cost MEMS AHRS with application to posture control of robotic fish

Hu, Yonghui, Yan, Yong, Liang, Jianhong, Wang, Lijuan (2013) A miniature, low-cost MEMS AHRS with application to posture control of robotic fish. In: Instrumentation and Measurement Technology Conference (I2MTC), 2013 IEEE International, 6-9 May 2013, Minneapolis, USA. (doi:10.1109/I2MTC.2013.6555642) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

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Official URL
http://dx.doi.org/10.1109/I2MTC.2013.6555642

Abstract

Inertial sensing is of paramount importance for a wide variety of navigation, guidance and control tasks. Historically, application of inertial sensing was limited to high-performance, high-cost aerospace and military fields. Recent MEMS technology has enabled miniaturization, mass production, and cost reduction of inertial sensors. This paper presents the development and robotic application of a miniature, low-cost AHRS unit based on MEMS technology. The sensor suite includes a tri-axis gyroscope, a tri-axis accelerometer and a tri-axis magnetometer. Fusion of the sensor measurements is achieved with a quaternion-based EKF algorithm. The performance of the AHRS unit is evaluated with a rotating platform and the results suggest numerous application possibilities. As an application case, the AHRS unit is employed for posture measurement of a robotic fish. By adjusting the lift forces produced by pectoral fins on both sides, the robotic fish can maintain desired posture during highspeed swimming

Item Type: Conference or workshop item (Paper)
DOI/Identification number: 10.1109/I2MTC.2013.6555642
Subjects: T Technology
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Faculties > Sciences > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: Tina Thompson
Date Deposited: 01 Nov 2013 14:30 UTC
Last Modified: 29 May 2019 11:14 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/35927 (The current URI for this page, for reference purposes)
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