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MEMS gyro bias estimation in accelerated motions using sensor fusion of camera and angular-rate gyroscope
, Article IEEE Transactions on Vehicular Technology ; Volume 69, Issue 4 , April , 2020 , Pages 3841-3851 ; Manzuri, M. T ; Kamran, D ; Karimian, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2020
Abstract
Although the accuracy of MEMS gyroscopes has been extremely improved, in some aspects, such as stability of bias, they still suffer from some big error sources, like run-to-run bias, which determines the sensor price but is not negligible even inexpensive sensors. Due to the fact that run-to-run bias is a kind of stochastic parameter, it has to be measured by utilizing online methods. Utilizing a novel, fast and efficient vision-based rotation estimation algorithm for ground vehicles, we have developed a visual gyroscope that is used in our sensor fusion system, in order to estimate run-to-run bias of the MEMS gyroscope, accurately. Comparing with similar approaches that use GPS, odometer,...