Development of a Small-sized and Low-cost Attitude Measurement Unit for Agricultural Robot Application

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dc.contributor.authorLiu, Yufei
dc.contributor.authorNogichi, Noboru
dc.contributor.authorIshii, Kazunobu
dc.contributor.departmentZiraat Fakültesitr_TR
dc.date.accessioned2021-09-24T13:29:22Z
dc.date.available2021-09-24T13:29:22Z
dc.date.issued2018-03-31
dc.description.abstractThe objective of this study was to develop a small-sized and low-cost unit to provide attitude measurements for lightloaded, small-sized and cost effective agricultural robot application. The attitude measurement unit comprised an electronic control unit (ECU) and a gyroscope and an accelerometer within a small-sized and low-cost IMU. In order to avoid the measurement limitations of a single sensor, a self-adaptive complementary filter and a Kalman filter were discussed and compared for sensor fusion. By comparison, in respect of preventing angle drift and maintaining dynamic characteristics, the Kalman filter has the significant advantage, especially in dynamic motion. In the comparison with a highly precise aviation-level fiber optic gyroscope (FOG), the results showed that the static angle drift was restrained by Kalman filter which reached the performance of the FOG. And in the series of farm experiments, the dynamic characteristic of the developed attitude measurement unit is close to the FOG performance in the sub-degree level. This is an acceptable accuracy for light-loaded, small-sized and cost effective agricultural robot application such as agriculture drone, greenhouse robots, harvesting robot arm and so on.tr_TR
dc.identifier.endpage41tr_TR
dc.identifier.issn/e-issn2148-9297
dc.identifier.issue1tr_TR
dc.identifier.startpage33tr_TR
dc.identifier.urihttps://doi.org/10.15832/ankutbd.446369tr_TR
dc.identifier.urihttp://hdl.handle.net/20.500.12575/74905
dc.identifier.volume24tr_TR
dc.language.isoentr_TR
dc.publisherAnkara Üniversitesitr_TR
dc.relation.isversionof10.15832/ankutbd.446369tr_TR
dc.relation.journalTarım Bilimleri Dergisitr_TR
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıtr_TR
dc.subjectIMU sensortr_TR
dc.subjectComplementary filtertr_TR
dc.subjectKalman filtertr_TR
dc.titleDevelopment of a Small-sized and Low-cost Attitude Measurement Unit for Agricultural Robot Applicationtr_TR
dc.typeArticletr_TR

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