Solid-state six degree of freedom, motion sensor for field robotic applications

Abstract

A solid-state inertial measurement unit (IMU) referred to as the MotionPak/sup TM/ is described. The IMU developed by BEI Sensors & Systems Company, consists of three micromachined quartz rate sensors and three accelerometers to provide a six degree of freedom (DOF), miniature, high reliability, low cost motion sensor which Carnegie Mellon University is utilizing to adapt to field robotic applications. Theory of operation and applications of the IMU are presented together with preliminary results in fusing the IMU data with a compass for a field robotics application.