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 Fibre Optics Gyroscope Evaluation and Calibration with a Mobile Robot Dept. of Mechanical Engineering - Aveiro University

What is a Laser Gyroscope? 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 Dept. of Mechanical Engineering - Aveiro University A device that measures angular rotation by using internal generated, counter-propagating, optical beams.

Gyroscope applications 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 Dept. of Mechanical Engineering - Aveiro University Avionics Naval Land vehicles Mobile robots Underwater NavigationIndustry Automotive industry General industry Steering gear Car navigation Breaking system Tilt sensing Mobile robots Platform stabilization Motion sensing

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

Gyroscope in mobile robots 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 Dept. of Mechanical Engineering - Aveiro University Used in dead-reckoning, it can: - increase accuracy in short-term information; - reduce the requirements in absolute position updates.

Autogyro 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 Dept. of Mechanical Engineering - Aveiro University † KVH Industries, Inc.

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

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

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

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 Dept. of Mechanical Engineering - Aveiro University Drift rate definition: Output signal when the gyroscope is not rotating around its sensitive axis. Random and systematic components

Drift rate compensation 100 samples 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 Dept. of Mechanical Engineering - Aveiro University º/s Subtract to the subsequent gyroscope outputs

Orientation variation measurement 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 Dept. of Mechanical Engineering - Aveiro University   max <1º Measurement accuracy  d 1(max) =  d 2(max) =5mm   max <1º

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 Dept. of Mechanical Engineering - Aveiro University

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 Dept. of Mechanical Engineering - Aveiro University where  (t,  ) - rotation rate at the instant t and temperature   (  ) - correction factor at temperature  If temperature is constant for all integration period † † In practice the temperature varied less than 0.5 ºC

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 Dept. of Mechanical Engineering - Aveiro University  CW     CCW   

Results after calibration 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 Dept. of Mechanical Engineering - Aveiro University  CW     CCW     CCW   

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 Dept. of Mechanical Engineering - Aveiro University BeforeAfter Improvement of ca. 60% in absolute orientation accuracy

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 Dept. of Mechanical Engineering - Aveiro University Gyroscope Odometers Real

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 Dept. of Mechanical Engineering - Aveiro University

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 Dept. of Mechanical Engineering - Aveiro University Temperature correction its vary important in orientation errors compensation; Gyroscope information is an essential sensor for outdoors environment navigation. –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 was immune to bumps and wheel slippage (the most relevant errors in odometry)