Poor man's Gyro-based Localization

In this paper we present our approach and experiments with equipping a mobile robot with a novel MEMS angular rate sensor (gyroscope) that was originally developed for automotive usage and is therefore mass produced and very low priced. By fusing its measurement results with data obtained from other cheap sources, it is feasible to use this sensor for continuous tracking although it is still affected by a high drift rate. The computational load involved is low enough to run on a standard microprocessor.