2. 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

3. 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.

4. 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

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

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 Dept. of Mechanical Engineering - Aveiro University Mobile robots

12. 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.

13. 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.

14. 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

15. 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

16. 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

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 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

18. 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 -0.126 º/s Subtract to the subsequent gyroscope outputs

19. 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

20. 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

21. 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

22. 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   

23. 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   

24. 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

25. 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

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 Dept. of Mechanical Engineering - Aveiro University

27. 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)