Abstract
For pose estimation of the mobile robots repairing the hydraulic turbine blades, due to almost full pose range, there is the problem of degenerated pose matrix and singular solution of pose angles. A better approach to measure the pose errors of mobile robots using quaternion is suggested, called One-Rotational Pose Error (ORPE). Based on ORPE, the accumulated errors resulted from long-term use of the low-precision inertial system are studied, and the inclinometers are used to adjust the pose estimation. Theoretically, only inclinometers cannot adjust all the pose angles or the pose matrix. However, the Frobenius norm of the matrix or ORPE can be used to give the best adjustment. This paper deduces an interesting result, and simulation results not only testify the validity of the approaches mentioned above, but also show that the combination of low-precision inertial system and low-precision inclinometers can give rise to relatively high precision pose estimation.
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Ma, X., Chen, Q., Sun, Z., Zhang, W. (2010). Improved Inertial Pose Estimation Algorithms for On-Site Hydraulic Turbine Blade Repairing Robot. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6425. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16587-0_6
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DOI: https://doi.org/10.1007/978-3-642-16587-0_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16586-3
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