Simultaneous Calibration for MEMS Gyroscopes of the Rocket IMU

2014 ◽  
Vol 896 ◽  
pp. 656-659 ◽  
Author(s):  
Wahyudi ◽  
Adhi Susanto ◽  
Wahyu Widada ◽  
Sasongko P. Hadi
Keyword(s):  
Low Cost ◽  
Angular Rate ◽  
Calibration Method ◽  
Sensor Technology ◽  
Measurement Unit ◽  
Angular Rate Sensor ◽  
Motion Simulator ◽  
Wide Range ◽  
Mems Gyroscopes ◽  
Mean Square Errors

MEMS (Microelectromechanical System), as an advanced sensor technology, is low power, low cost, and small size. Gyroscope sensor produced with microelectromechanical technology is an angular rate sensor. IMU (Inertial Measurement Unit) sensor for rocket should have a very wide range of measurements. At the beginning of the motion, the rocket accelereation is very high, for which the rocket IMU requires a multisensor with different sensitivity. This paper presents the design of the rocket IMU and its calibration method for all MEMS gyroscopes. Calibration for each sensor is necessary including its varying characteristics. The calibration of the gyroscope sensors use three-axis motion simulator model ST 3176 with resolutions 0.00001 for all axes. Simultaneous calibration was mutually applied which require a short calibration time. The results show that root mean square errors (RMSE) of the calibrated gyroscope for all axes are under 2.5 %. Therefore, that the calibrated gyroscope can be used in the proposed real application.

scholarly journals Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

Micromachines ◽  
2019 ◽  
Vol 10 (8) ◽  
pp. 514 ◽  
Author(s):  
Li Xing ◽  
Xiaowei Tu ◽  
Weixing Qian ◽  
Zhi Chen ◽  
Qinghua Yang
Keyword(s):  
Performance Enhancement ◽  
Low Cost ◽  
Angular Rate ◽  
Measurement Data ◽  
Measurement Range ◽  
Measurement Unit ◽  
Small Range ◽  
Rate Measurement ◽  
Wide Range ◽  
Mems Gyroscopes

Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high-cost and small-range MEMS gyroscope is combined with low-cost and large-range MEMS gyroscopes. Then, an adaptive data fusion method of redundant MEMS gyroscopes is proposed. By the designed experiments based on the simulation data and the sensor measurement data, the proposed method has been proved that it can effectively improve the angular rate measurement performance of the multi-rotor UAV and broaden the angular rate measurement range on the basis of saving the configuration cost and volume of the micro IMU.

Active Roll Control of Heavy Single Unit Vehicles Employing MEMS Angular Rate Sensors

2007 ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Ye Tian ◽  
Tianfu Wang
Keyword(s):  
Single Unit ◽  
Dynamic Models ◽  
Low Cost ◽  
Angular Rate ◽  
Micro Electro Mechanical System ◽  
Angular Rate Sensor ◽  
Linear Quadratic ◽  
Roll Control ◽  
Active Roll Control ◽  
Rate Sensor

The present paper is concerned with the use of active roll control to improve the roll stability of heavy road-vehicles and the application of Micro-electro-mechanical System (MEMS) angular rate sensors in the feedback monitoring. For this purpose, mathematical models that represent the roll/yaw dynamics for a torsionally rigid Single Unit Vehicle (SUV) is presented. The state-space models that represent the vehicle dynamics are also developed for the purpose of performing numerical simulations. A linear Quadratic Gaussian (LQG) based controller, using Kalman estimator to estimate certain states, is employed to design a full-state active roll control system. A mathematical model that represents the dynamic behavior of a low-cost MEMS gyroscope is derived for the purpose of investigating the suitability of applying this class of angular rate sensor in the roll control of heavy vehicles. Some reliability issues related to MEMS sensors, such as noise and drift, are introduced and included in vehicle dynamic models.

scholarly journals Rigorous Boresight Self-Calibration of Mobile and UAV LiDAR Scanning Systems by Strip Adjustment

2019 ◽  
Vol 11 (4) ◽  
pp. 442 ◽  
Author(s):  
Zhen Li ◽  
Junxiang Tan ◽  
Hua Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Point Clouds ◽  
Calibration Method ◽  
Satellite System ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Self Calibration ◽  
Global Navigation Satellite ◽  
Mean Square Errors ◽  
Scanning Systems

Mobile LiDAR Scanning (MLS) systems and UAV LiDAR Scanning (ULS) systems equipped with precise Global Navigation Satellite System (GNSS)/Inertial Measurement Unit (IMU) positioning units and LiDAR sensors are used at an increasing rate for the acquisition of high density and high accuracy point clouds because of their safety and efficiency. Without careful calibration of the boresight angles of the MLS systems and ULS systems, the accuracy of data acquired would degrade severely. This paper proposes an automatic boresight self-calibration method for the MLS systems and ULS systems using acquired multi-strip point clouds. The boresight angles of MLS systems and ULS systems are expressed in the direct geo-referencing equation and corrected by minimizing the misalignments between points scanned from different directions and different strips. Two datasets scanned by MLS systems and two datasets scanned by ULS systems were used to verify the proposed boresight calibration method. The experimental results show that the root mean square errors (RMSE) of misalignments between point correspondences of the four datasets after boresight calibration are 2.1 cm, 3.4 cm, 5.4 cm, and 6.1 cm, respectively, which are reduced by 59.6%, 75.4%, 78.0%, and 94.8% compared with those before boresight calibration.

scholarly journals High Quality Zenith Tropospheric Delay Estimation Using a Low-Cost Dual-Frequency Receiver and Relative Antenna Calibration

2020 ◽  
Vol 12 (9) ◽  
pp. 1393 ◽  
Author(s):  
Andreas Krietemeyer ◽  
Hans van der Marel ◽  
Nick van de Giesen ◽  
Marie-Claire ten Veldhuis
Keyword(s):  
Low Cost ◽  
Ground Plane ◽  
Calibration Method ◽  
Single Frequency ◽  
Tropospheric Delay ◽  
Limiting Factor ◽  
Dual Frequency ◽  
High Quality ◽  
Mean Square Errors ◽  
Antenna Calibration

The recent release of consumer-grade dual-frequency receivers sparked scientific interest into use of these cost-efficient devices for high precision positioning and tropospheric delay estimations. Previous analyses with low-cost single-frequency receivers showed promising results for the estimation of Zenith Tropospheric Delays (ZTDs). However, their application is limited by the need to account for the ionospheric delay. In this paper we investigate the potential of a low-cost dual-frequency receiver (U-blox ZED-F9P) in combination with a range of different quality antennas. We show that the receiver itself is very well capable of achieving high-quality ZTD estimations. The limiting factor is the quality of the receiving antenna. To improve the applicability of mass-market antennas, a relative antenna calibration is performed, and new absolute Antenna Exchange Format (ANTEX) entries are created using a geodetic antenna as base. The performance of ZTD estimation with the tested antennas is evaluated, with and without antenna Phase Center Variation (PCV) corrections, using Precise Point Positioning (PPP). Without applying PCVs for the low-cost antennas, the Root Mean Square Errors (RMSE) of the estimated ZTDs are between 15 mm and 24 mm. Using the newly generated PCVs, the RMSE is reduced significantly to about 4 mm, a level that is excellent for meteorological applications. The standard U-blox ANN-MB-00 patch antenna, with a circular ground plane, after correcting the phase pattern yields comparable results (0.47 mm bias and 4.02 mm RMSE) to those from geodetic quality antennas, providing an all-round low-cost solution. The relative antenna calibration method presented in this paper opens the way for wide-spread application of low-cost receiver and antennas.

scholarly journals Performance Evaluation of Autonomous Driving Control Algorithm for a Crawler-Type Agricultural Vehicle Based on Low-Cost Multi-Sensor Fusion Positioning

2020 ◽  
Vol 10 (13) ◽  
pp. 4667 ◽  
Author(s):  
Joong-hee Han ◽  
Chi-ho Park ◽  
Jay Hyoun Kwon ◽  
Jisun Lee ◽  
Tae Soo Kim ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Low Cost ◽  
Autonomous Driving ◽  
Maximum Error ◽  
Sensor Technology ◽  
Motion Sensor ◽  
Integration Algorithm ◽  
Sensor Module ◽  
Agricultural Vehicle ◽  
Mean Square Errors

The agriculture sector is currently facing the problems of aging and decreasing skilled labor, meaning that the future direction of agriculture will be a transition to automation and mechanization that can maximize efficiency and decrease costs. Moreover, interest in the development of autonomous agricultural vehicles is increasing due to advances in sensor technology and information and communication technology (ICT). Therefore, an autonomous driving control algorithm using a low-cost global navigation satellite system (GNSS)-real-time kinematic (RTK) module and a low-cost motion sensor module was developed to commercialize an autonomous driving system for a crawler-type agricultural vehicle. Moreover, an autonomous driving control algorithm, including the GNSS-RTK/motion sensor integration algorithm and the path-tracking control algorithm, was proposed. Then, the performance of the proposed algorithm was evaluated based on three trajectories. The Root Mean Square Errors (RMSEs) of the path-following of each trajectory are calculated to be 9, 7, and 7 cm, respectively, and the maximum error is smaller than 30 cm. Thus, it is expected that the proposed algorithm could be used to conduct autonomous driving with about a 10 cm-level of accuracy.

Wire-Electric Gyroscope

2013 ◽  
Author(s):  
Vadym Avrutov
Keyword(s):  
Electric Current ◽  
Low Cost ◽  
Angular Rate ◽  
Good Choice ◽  
Angular Rate Sensor ◽  
Cross Section Area ◽  
Section Area ◽  
New Type ◽  
The Wire ◽  
Rate Sensor

The wire-electric gyroscope (WEG) is a new type of the angular rate sensor. The basic principle of the WEG is based on the hypothesis of invariance of the electric current speed for the same wire (coil). It is similar to the Sagnac effect for the speed of light. The method of angular rate determination is described. The voltage difference between two wire coils with different line coupling can be expressed in applied rotation (angular) rate and velocity of electric current. The scale factor depends on the magnitude of the current, number of the coil turns, the coil’s radius, the cross-section area of the wire and specific (unit) resistance of the wire. WEG can be produced cost-effectively and can be a good choice for low-cost applications.

Spectral Reflectance Estimation of UAS Multispectral Imagery Using Satellite Cross-Calibration Method

2021 ◽  
Vol 87 (10) ◽  
pp. 735-746
Author(s):  
Saket Gowravaram ◽  
Haiyang Chao ◽  
Andrew Molthan ◽  
Tiebiao Zhao ◽  
Pengzhi Tian ◽  
...  
Keyword(s):  
Spectral Reflectance ◽  
Near Infrared ◽  
Low Cost ◽  
Calibration Method ◽  
Unmanned Aircraft ◽  
Landsat 8 ◽  
Multispectral Imagery ◽  
Data Set ◽  
Cross Calibration ◽  
Mean Square Errors

This paper introduces a satellite-based cross-calibration (SCC) method for spectral reflectance estimation of unmanned aircraft system (UAS) multispectral imagery. The SCC method provides a low-cost and feasible solution to convert high-resolution UAS images in digital numbers (DN) to reflectance when satellite data is available. The proposed method is evaluated using a multispectral data set, including orthorectified KHawk UAS DN imagery and Landsat 8 Operational Land Imager Level-2 surface reflectance (SR) data over a forest/grassland area. The estimated UAS reflectance images are compared with the National Ecological Observatory Network's imaging spectrometer (NIS) SR data for validation. The UAS reflectance showed high similarities with the NIS data for the near-infrared and red bands with Pearson's r values being 97 and 95.74, and root-mean-square errors being 0.0239 and 0.0096 over a 32-subplot hayfield.

scholarly journals Online IMU Self-Calibration for Visual-Inertial Systems

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1624 ◽  
Author(s):  
Yao Xiao ◽  
Xiaogang Ruan ◽  
Jie Chai ◽  
Xiaoping Zhang ◽  
Xiaoqing Zhu
Keyword(s):  
Inertial Sensor ◽  
Low Cost ◽  
Optimization Methods ◽  
Calibration Method ◽  
Measurement Unit ◽  
Intrinsic Parameters ◽  
Self Calibration ◽  
Calibration Problem ◽  
System States ◽  
Inertial Systems

Low-cost microelectro mechanical systems (MEMS)-based inertial measurement unit (IMU) measurements are usually affected by inaccurate scale factors, axis misalignments, and g-sensitivity errors. These errors may significantly influence the performance of visual-inertial methods. In this paper, we propose an online IMU self-calibration method for visual-inertial systems equipped with a low-cost inertial sensor. The goal of our method is to concurrently perform 3D pose estimation and online IMU calibration based on optimization methods in unknown environments without any external equipment. To achieve this goal, we firstly develop a novel preintegration method that can handle the IMU intrinsic parameters error propagation. Then, we frame IMU calibration problem into general factors so that we can easily integrate the factors into the current graph-based visual-inertial frameworks and jointly optimize the IMU intrinsic parameters as well as the system states in a big bundle. We evaluate the proposed method with a publicly available dataset. Experimental results verify that the proposed approach is able to accurately calibrate all the considered parameters in real time, leading to significant improvement of estimation precision of visual-inertial system (VINS) compared with the estimation results with offline precalibrated IMU measurements.

A Standard Testing and Calibration Procedure for Low Cost MEMS Inertial Sensors and Units

2008 ◽  
Vol 61 (2) ◽  
pp. 323-336 ◽  
Author(s):  
P. Aggarwal ◽  
Z. Syed ◽  
X. Niu ◽  
N. El-Sheimy
Keyword(s):  
Moving Objects ◽  
Inertial Sensors ◽  
Low Cost ◽  
Calibration Method ◽  
Calibration Procedure ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Mems Sensors ◽  
Calibration Methods

Navigation involves the integration of methodologies and systems for estimating the time varying position and attitude of moving objects. Inertial Navigation Systems (INS) and the Global Positioning System (GPS) are among the most widely used navigation systems. The use of cost effective MEMS based inertial sensors has made GPS/INS integrated navigation systems more affordable. However MEMS sensors suffer from various errors that have to be calibrated and compensated to get acceptable navigation results. Moreover the performance characteristics of these sensors are highly dependent on the environmental conditions such as temperature variations. Hence there is a need for the development of accurate, reliable and efficient thermal models to reduce the effect of these errors that can potentially degrade the system performance. In this paper, the Allan variance method is used to characterize the noise in the MEMS sensors. A six-position calibration method is applied to estimate the deterministic sensor errors such as bias, scale factor, and non-orthogonality. An efficient thermal variation model is proposed and the effectiveness of the proposed calibration methods is investigated through a kinematic van test using integrated GPS and MEMS-based inertial measurement unit (IMU).

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