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Navigation problem
Define internal navigation
sensors for a ground robot
with car type kinematics (4
wheels + ackerman steering
+ rear wheel drive)
Sensors?
Where?
Why?
~15-20 min.
Describe your system
shortly.
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Navigation (internal) Sensors
To sense robots own state
Magnetic compass (absolute heading)
Gyro (angular speed => change of heading)
Acceleration sensors (acceleration)
tako, encoder (speed, distance)
syncro, resolver (speed, position)
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Magnetic Compasses
Based on the detection of earths magnetic field~60T
Absolute heading, coarse accuracy
Available magnetic compasses:
Mechanical magnetic compasses
Fluxgatecompasses
Magnetoinductive compasses
Hall-effect compasses
Magnetoresistive compasses
Magnetoelasticcompasses
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Magnetic Compasses
Magnetic field ~60T
About from south to north
Declination = the angle between true and magnetic
north
Deviation = the angle between the indicated and
actual bearing to magnetic north
Inclination = the vertical component of the
magnetic field (magnetic dip)
Variation = local errors
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Mechanical Magnetic
Compasses
Marinenavigationdevice(the first written
reference: China 2634BCE, commonlyin use1300)
Fluiddampingand gimbal mountingis adequatefor
marineapplications
problemsin roughterrain
Starguide miniatyre compass
permanent-magnet rotor
low-frictionjeweledbearing
internal damping
8 led displayor analogoutput
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Fluxgate-Compass
Fluxgate = trade name of the first commercial saturable-
core magnetometer
High permeabilitycorenon-saturated(A) andsaturated(B)
controls the magnetic flux
Saturation is controlled with sinusoidal or quadratic wave
in the drive-coil
The expanding and collapsingmagnetic flux induces to the
sense coil an emf. relative to the existing magnetic field
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Fluxgate-Compass
In rod type structure the field
of caused by the drive coil
affects to the sense coil
undesired phenomena
a rod is replaced with two
rods where drive coils are
wound oppositely
opposite magnetic fluxes
compensate each other
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Fluxgate-Compass
To measure the direction
of the (earths)magnetic
field two perpendicular
sense coils are needed
Toroidal structureis
suitablebecause
magnetic fluxes (by
drive coils)
compensate each other
demagnetization
effects are smaller than
in the rod-type
structure
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Fluxgate-Compass
An other popular design is three-legged spider
configuration
Three horizontal sense coils (120 apart each others)
Commonvertical drive coil
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ZEMCO Fluxgate-Compass
Two perpendicular sense
coils on a toroidal drive
coil
Used inROBART II
Electrical cabling of the
robot and metal object
near by caused errors
Relatively high power
consumption(250 mA,
12V)
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ZEMCO Fluxgate-Compass
Analog compass was later replaced with digital one by
same manufacturer
Smaller power consumption(94 mA)
Typical accuracy6
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WATSON Fluxgate Gyro
Compass
Fluxgate-Compassandgyro data isfused with micro
processor
More stable
less sensitive to enviromental noise
Toroidal ring-core fluxgatesensor internally gimbal
mounted
Piezoelectric tuning-fork gyro (next chapter)
Analogoutput andserial 12-bit digital output
Accuracy2 (withModBot on flat storage floor)
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WATSON Fluxgate Gyro
Compass
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KVH Fluxgate-Compasses
Different type of fluxgate-compassesfrom inexpensive to
sophisticated systems intended for military applications
Example: C100 Compass Engine developers kit
Microprocessor controlledtoroidal ring-core fluxgate
sensor
Different type of internal mountings for different tilt
angles
Resolution0,1, accuracy0,5, repeatability0,2
System damping is user selectable
Automatic compensation algorithm(SW) to correct the
magnetic anomalities associated with the host vehicle
Analog/digital output
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Miniatyre Orientation sensor
Applied Physics Systems
Three axis (pitch, roll, yaw) orientationsensor
The combination of three axis acceleration sensor
and non-gimballedthree axisfluxgate-sensor
Interface: RS-232 port
Output: either angles (pitch, roll, yaw) or
individual acceleration values and magnetic field
values
Accuracy0,5
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Magnetoinductive Compass
One sense coil for each axix
Sense coil serves as an inductive element in low-power LR-
oscillator
The relative permeability of the coil core material varies as a
function of the magnetizing force
=> output signal is relative to the existing magnetic field =
orientation in the earths field
power consumption is smaller than with fluxgate-sensors
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Magnetoinductive TCM-Compass
Three axis magneto-
inductivesensor for the X-,
Y- ja Z- componentsof the
magnetic field
Two axisinclinometer for
tilt and roll measurement
Microprocessor corrects the
error from inclinations
Automatic distortion
detection algorithm raise
warning when disturbances
(metallic objects, cables)
are detected
Accuracy1
5...25 VDC, 6...12 mA
For mobile robots like
(ROBART III, MDARS)
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Hall-effect Compasses
A voltage is generated in Hall-sensor by the presence of
external magnetic field (Chapter 3)
Experimental compasses have been built
Problems with sensitivity
Both chips and compasses available
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Magnetoresistive Compass
The resistivity of magnetoresistive material changes as the
function of the external magnetic field
MagnetoresistiveAMR (anisotropic magnetoresistive) ja
GMR (giant magnetoresistive) - sensorsare discussed in
chapter 3
Magnetoresistive compassesare perfect for mobile robots:
Excellent sensitivity
Small power consumption
Small size
Decreasing price
=> future technology!
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Magnetoresistive Compass
Everett represents threemagnetoresistiveoptions:
Philips AMR-compass
Restrictedsensitivity
Space Electronics AMR-kompassi
Micro-Mag-sensor withWheatstone-bridge
Honeywell digital intelligent HMR-magnetometer
Three perpendicular sensors
Accuracy1% from full scale
Development Kit available
Honeywell has a wide variety of magnetoresistive sensors:
http://www.ssec.honeywell.com/magnetic/products.html
And Philips:
http://www.nxp.com/pip/KMZ51.html#description
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Magnetoelastic Compass
Based onmagnetoelastic(= magnetostrictive)
material assensor element
Magnetostriction = all ferromagneticmaterials
shrink or expandin the direction of magnetization
Very accurate displacement sensor needed
Interferometricmeasurement
Tunneling-tipsensing (tunneling microscopy)
Prototypesmanufactured
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Magnetoinductive TCM2
Compass (demonstrated)
Basic structure like in
TCM1
Better sensitivity
More advanced
compensation algorithm
Accuracy +/- 0,2 deg
Resolution +/- 0,1deg
Repeatibility +/- 0,1 deg
http://www.pnicorp.com/