A novel high precision inertial measurement scheme and its optimization method for high-speed rotating ammunition

2014 ◽  
Vol 228 (13) ◽  
pp. 2553-2566 ◽  
Author(s):  
Qingya Wu ◽  
Qingzhong Jia ◽  
Jiayuan Shan ◽  
Xiuyun Meng
Keyword(s):  
Angular Velocity ◽  
High Precision ◽  
High Speed ◽  
Single Channel ◽  
Dynamic Environment ◽  
Angular Acceleration ◽  
Measurement Unit ◽  
High Precision Measurement ◽  
Inertial Measurement ◽  
Information Vector

A novel inertial measurement unit scheme with five accelerometers and two gyros (5A2G) is proposed in this paper to achieve high precision measurement in high dynamic environment. The three channels are decoupled during the angular velocity calculation procedure to ensure the precision and efficiency. The yawing and pitching angular velocities are directly measured by gyros, while only the rolling angular velocity is inferred indirectly from the rolling angular information vector composed of rolling angular acceleration and quadratic component of rolling angular velocity. Based on the proposed scheme, the configuration ascertainment problem for acquiring the required installation parameters of accelerometers is transformed into a constraint optimization problem with the objective of minimizing the error of rolling angular information vector. A single channel rolling angular velocity calculation model is then established on the basis of the optimal configuration and the extended Kalman filter algorithm is utilized for state estimation. Simulations are implemented and results indicate that the optimal 5A2G scheme is feasible for high-speed rotating ammunition.

Error Compensation Technology of Semi-Strapdown MEMS Inertial Measurement System

2014 ◽  
Vol 609-610 ◽  
pp. 1213-1218 ◽  
Author(s):  
Jie Li ◽  
Jing De Zhu ◽  
Li Peng Hou ◽  
Jun Liu
Keyword(s):  
High Precision ◽  
Error Compensation ◽  
High Speed ◽  
Measurement Method ◽  
Motor Speed ◽  
High Precision Measurement ◽  
Inertial Measurement ◽  
Force Equation ◽  
Speed Fluctuation ◽  
Set Up

Semi-strapdown inertial measurement method provides a new solution for the high-precision measurement on flight attitude of high-spinning ammunition, while the specific set of components in the semi-strapdown application will cause a series of errors. This paper mainly analyzes the generation mechanism of motor speed fluctuation error and the misalignment error in coupling axis. Then the instantaneous motor speed measurement method based on the high-precision gyroscope is designed and the misalign model of coupling axis is set up, MEMS inertial measurement area centripetal force equation under the condition of high speed is worked out, and accuracy error parameters affecting the measurement are obtained. Finally, the paper provides corresponding error compensation method and comparative tests are conducted. The results show that the compensated system improves the accuracy of attitude angle calculating and the error has been effectively suppressed.

Study of Zero Velocity Update for Both Low- and High-Speed Human Activities

2012 ◽  
pp. 65-84
Author(s):  
R. Zhang ◽  
M. Loschonsky ◽  
L.M. Reindl
Keyword(s):  
Human Activities ◽  
High Speed ◽  
Inertial Sensor ◽  
Stair Climbing ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Fast Walking ◽  
Zero Velocity ◽  
Wide Range ◽  
Algorithm Implementation

Previous studies show that inertial sensor-based personal positioning benefited from Zero Velocity Update (ZUPT) method by resetting the foot speed at every foot step. However, only the solution for normal pedestrian movement with small velocity like walking was given. This paper presents a novel ZUPT system which can be used in a wide range of human activities, including walking, running, and stair climbing by using two inertial measurement unit (IMU) modules. One is attached on the centre of the human body for human activities’ classification and recognition. The other one is mounted on the foot for ZUPT algorithm implementation based on the result of activities’ recognition. Test cases include stair climbing by walking and running, walking, fast walking, and running. In all cases, most of the steps are able to be detected and the new ZUPT system can be successfully implemented.

scholarly journals Angular velocity fusion of the microelectromechanical system inertial measurement unit array based on extended Kalman filter with correlated system noises

2020 ◽  
pp. 002029402091770
Author(s):  
Li Xing ◽  
Xiaowei Tu ◽  
Weixing Qian ◽  
Yang Jin ◽  
Pei Qi
Keyword(s):  
Kalman Filter ◽  
Angular Velocity ◽  
Extended Kalman Filter ◽  
Inertial Measurement Unit ◽  
Angular Rate ◽  
The State ◽  
Measurement Unit ◽  
Fusion Method ◽  
Microelectromechanical System ◽  
Inertial Measurement

The paper proposes an angular velocity fusion method of the microelectromechanical system inertial measurement unit array based on the extended Kalman filter with correlated system noises. In the proposed method, an adaptive model of the angular velocity is built according to the motion characteristics of the vehicles and it is regarded as the state equation to estimate the angular velocity. The signal model of gyroscopes and accelerometers in the microelectromechanical system inertial measurement unit array is used as the measurement equation to fuse and estimate the angular velocity. Due to the correlation of the state and measurement noises in the presented fusion model, the traditional extended Kalman filter equations are optimized, so as to accurately and reliably estimate the angular velocity. By simulating angular rates in different motion modes, such as constant and change-in-time angular rates, it is verified that the proposed method can reliably estimate angular rates, even when the angular rate has been out of the microelectromechanical system gyroscope measurement range. And results show that, compared with the traditional angular rate fusion method of microelectromechanical system inertial measurement unit array, it can estimate angular rates more accurately. Moreover, in the kinematic vehicle experiments, the performance advantage of the proposed method is also verified and the angular rate estimation accuracy can be increased by about 1.5 times compared to the traditional method.

New method to evaluate three-dimensional push-off angle during short-track speed skating using wearable inertial measurement unit sensors

2019 ◽  
Vol 233 (4) ◽  
pp. 476-480 ◽  
Author(s):  
Kyungsoo Kim ◽  
Jun Seok Kim ◽  
Tserenchimed Purevsuren ◽  
Batbayar Khuyagbaatar ◽  
SuKyoung Lee ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Inertial Measurement Unit ◽  
High Speed ◽  
Three Dimensional ◽  
Analysis Data ◽  
New Method ◽  
Measurement Unit ◽  
Angle Estimation ◽  
Inertial Measurement ◽  
Speed Skating

The push-off mechanism to generate forward movement in skating has been analyzed by using high-speed cameras and specially designed skates because it is closely related to skater performance. However, using high-speed cameras for such an investigation, it is hard to measure the three-dimensional push-off force, and a skate with strain gauges is difficult to implement in the real competitions. In this study, we provided a new method to evaluate the three-dimensional push-off angle in short-track speed skating based on motion analysis using a wearable motion analysis system with inertial measurement unit sensors to avoid using a special skate or specific equipment insert into the skate for measurement of push-off force. The estimated push-off angle based on motion analysis data was very close to that based on push-off force with a small root mean square difference less than 6% when using the lateral marker in the left leg and the medial marker in the right leg regardless of skating phase. These results indicated that the push-off angle estimation based on motion analysis data using a wearable motion capture system of inertial measurement unit sensors could be acceptable for realistic situations. The proposed method was shown to be feasible during short-track speed skating. This study is meaningful because it can provide a more acceptable push-off angle estimation in real competitive situations.

A Design of Position Terminal Based on BDS

2014 ◽  
Vol 635-637 ◽  
pp. 1128-1131
Author(s):  
Xing Hong Kuang ◽  
Zhe Yi Yao ◽  
Shi Ming Wang
Keyword(s):  
Data Collection ◽  
Real Time ◽  
High Precision ◽  
High Speed ◽  
Large Scale ◽  
High Efficiency ◽  
Satellite Navigation ◽  
Navigation Systems ◽  
Time Data ◽  
High Precision Measurement

With the development of economy, the global satellite navigation system with its high speed, high efficiency, high precision measurement and positioning a series of significant advantages, favored by various industry data collection and monitoring of personnel resources , the advent of satellite navigation systems to solve a large-scale, rapid and high-precision global positioning problem. Its scope of application has penetrated to the various departments of the national economic and social development in various fields and industries. To be able to monitor the progressive realization of automated data collection and transmission, the urgent need to adopt advanced positioning technology to build real-time location monitoring system PC Based Development Background navigation receiver , an overview of the inter Beidou BD-126 systems and microcontrollers can be serially the basic principle of mouth communication describes the communication protocol Compass BD-126 positioning module and the next crew between the microcontroller to control development in the use of PC positioning system for a detailed description , including the BDS Beidou satellite navigation module and microcontroller serial data communications, microprocessor controlled real-time data display , and so on

scholarly journals Design and Simulation of Two-Wheeled Balancing Mobile Robot with PID Controller

2020 ◽  
Vol 3 (1) ◽  
pp. 12-19
Author(s):  
Vicky Mudeng ◽  
Barokatun Hassanah ◽  
Yun Tonce Kusuma Priyanto ◽  
Okcy Saputra ◽  
◽  
...  
Keyword(s):  
Angular Velocity ◽  
Pid Controller ◽  
Pulse Width Modulation ◽  
Angular Acceleration ◽  
Electronic System ◽  
Measurement Unit ◽  
Dc Motors ◽  
Control Optimization ◽  
Working Principle ◽  
Balancing Robot

Mobile transportation robots using two wheels have now been investigated. The work within this study is to design and simulate two-wheeled robots, thus it can maintain its balance. Many control methods are used to determine satisfactory control optimization, therefore a proper response is obtained by sensor recitation corresponding with the reaction of a Direct Current (DC) motor. Recently, two-wheeled transportation robot is a Segway model. In this study, we apply a Proportional Integral Derivative (PID) controller as a control system in a self-balancing robot with a working principle is similar to an inverted pendulum. In the next study, the PID controller and the whole system are applied in the microcontroller board. The angular velocity of two DC motors used as a plant can be adjusted by Pulse Width Modulation (PWM) through a motor driver. An Inertial Measurement Unit (IMU) sensor is utilized to detect the angular acceleration and angular velocity of the self-balancing robot. The phase design is constructed by planning the robot dimension, mechanical system, and an electronic system. Particularly, this study performs mathematical modeling of the robot system to obtain the transfer function. In addition, we simulate the PID parameter with multiplication between the basic parameter and several fixed constants. The simulation results indicate that the robot can maintain its balance and remains perpendicularly stable for balancing itself.

scholarly journals Trunk Inclination Estimate During the Sprint Start Using an Inertial Measurement Unit: A Validation Study

2013 ◽  
Vol 29 (5) ◽  
pp. 622-627 ◽  
Author(s):  
Elena Bergamini ◽  
Pélagie Guillon ◽  
Valentina Camomilla ◽  
Hélène Pillet ◽  
Wafa Skalli ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Inertial Measurement Unit ◽  
Sagittal Plane ◽  
Measurement Unit ◽  
Mean Values ◽  
Inertial Measurement ◽  
Trunk Inclination ◽  
Time Histories ◽  
Mean Square Difference ◽  
Curve Similarity

The proper execution of the sprint start is crucial in determining the performance during a sprint race. In this respect, when moving from the crouch to the upright position, trunk kinematics is a key element. The purpose of this study was to validate the use of a trunk-mounted inertial measurement unit (IMU) in estimating the trunk inclination and angular velocity in the sagittal plane during the sprint start. In-laboratory sprint starts were performed by five sprinters. The local acceleration and angular velocity components provided by the IMU were processed using an adaptive Kalman filter. The accuracy of the IMU inclination estimate and its consistency with trunk inclination were assessed using reference stereophotogrammetric measurements. A Bland-Altman analysis, carried out using parameters (minimum, maximum, and mean values) extracted from the time histories of the estimated variables, and curve similarity analysis (correlation coefficient > 0.99, root mean square difference < 7 deg) indicated the agreement between reference and IMU estimates, opening a promising scenario for an accurate in-field use of IMUs for sprint start performance assessment.

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