A NEW MEMS GYRO APPROACH USING LSM FOR MOBILE ROBOT HEADING DETECTION

摘要

The present invention relates to a new method for detecting a north direction based on an MEMS gyro so as to detect a driving direction of a mobile robot and, more specifically, relates to a method for measuring a heading angle of a robot based on the method. The present invention provides an MEMS gyro using method using LSM to detect moving a direction of a mobile robot, which uses single axle MEMS gyro and an acceleration sensor so as to find an angle between a robot direction and a north direction, measures a target position by detecting a labor force of earth using the acceleration sensor while detecting the angle, and uses LSM and EKF as data fusion and signal processing so as to increase accuracy and shorten detection time.