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Smart Filter Design for the Localization of Robotic Fish Using MEMS Accelerometer

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

Abstract

This paper presents the design of smart filter for the 2D localization of robotic fish using low-cost MEMS (Micro-Electro Mechanical System) accelerometer. The main purpose of the paper is to minimize the drift error that is inevitable in the double integration process in accelerometer-only navigation system. The proposed approach relies on two parts: 1) an effective calibration method to remove the major part of the deterministic sensor errors and, 2) a novel smart filtering scheme based on fuzzy-logic in order to accurately estimate a 2D position with an accelerometer triad. In addition, we compare the results of the fuzzy logic based on 2D position estimation system with simulation result from a conventional Kalman Filter.

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Author information

Authors and Affiliations

  1. LIG Nex1 Co, Seoul, Korea

    Tae Suk Yoo

  2. Department of Aerospace Engineering, Sejong University, Seoul, Korea

    Sang Cheol Lee & Sung Kyung Hong

  3. Korea Institute of Industrial Technology, Cheonan, Korea

    Young Sun Ryuh

Authors
  1. Tae Suk Yoo
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  2. Sang Cheol Lee
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  3. Sung Kyung Hong
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  4. Young Sun Ryuh
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Corresponding author

Correspondence to Tae Suk Yoo .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Yoo, T.S., Lee, S.C., Hong, S.K., Ryuh, Y.S. (2013). Smart Filter Design for the Localization of Robotic Fish Using MEMS Accelerometer. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_47

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  • DOI: https://doi.org/10.1007/978-3-642-33926-4_47

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

  • eBook Packages: EngineeringEngineering (R0)

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