Gyroscope-Based Video Stabilization for Electro-Optical Long-Range Surveillance Systems

Video stabilization is essential for long-range electro-optical systems, especially in situations when the field of view is narrow, since the system shake may produce highly deteriorating effects. It is important that the stabilization works for different camera types, i.e., different parts of the electromagnetic spectrum independently of the weather conditions and any form of image distortion. In this paper, we propose a method for real-time video stabilization that uses only gyroscope measurements, analyze its performance, and implement and validate it on a real-world professional electro-optical system developed at Vlatacom Institute. Camera movements are modeled with 3D rotations obtained by integration of MEMS gyroscope measurements. The 3D orientation estimation quality depends on the gyroscope characteristics; we provide a detailed discussion on the criteria for gyroscope selection in terms of the sensitivity, measurement noise, and drift stability. Furthermore, we propose a method for improving the unwanted motion estimation quality using interpolation in the quaternion domain. We also propose practical solutions for eliminating disturbances originating from gyro bias instability and noise. In order to evaluate the quality of our solution, we compared the performance of our implementation with two feature-based digital stabilization methods. The general advantage of the proposed methods is its drastically lower computational complexity; hence, it can be implemented for a low price independent of the used electro-optical sensor system.

Negative Bias Instability of InZnO-Based Thin-Film Transistors Under Illumination Stress

In this study, we investigated the threshold voltage (Vth) instability of solution-processed indium zinc oxide (IZO) thin film transistors (TFTs) prior to and after negative bias illumination stress (NBIS) with varying carrier suppressors (Ga, Al, Hf, and Zr). Variations in electrical properties of the IZO-based TFTs as a function of carrier suppressors were attributed to the differences in metal-oxygen bonding energy of the materials, which was numerically verified by calculating the relative oxygen deficient ratio from the X-ray photoelectron spectroscopy analysis. Furthermore, the values of Vth shift (ΔVth) of the devices subjected to negative gate bias stress under 635 nm (red), 530 nm (green), and 480 nm (blue) wavelength light irradiation increased as the incident photon energy increased. IZO TFTs doped with Ga atoms demonstrated weaker metal-oxygen bonding energy compared to the others and exhibited the largest ΔVth. This result was attributed to the suppressor-dependent distribution of neutral oxygen vacancies which determine the degrees of photon energy absorption in the IZO films. Then, the ΔVth instability of IZO-based TFTs under NBIS correlated well with a stretched exponential function.

Performance Enhancement of Consumer-Grade MEMS Sensors through Geometrical Redundancy

The paper deals with performance enhancement of low-cost, consumer-grade inertial sensors realized by means of Micro Electro-Mechanical Systems (MEMS) technology. Focusing their attention on the reduction of bias instability and random walk-driven drift of cost-effective MEMS accelerometers and gyroscopes, the authors hereinafter propose a suitable method, based on a redundant configuration and complemented with a proper measurement procedure, to improve the performance of low-cost, consumer-grade MEMS sensors. The performance of the method is assessed by means of an adequate prototype and compared with that assured by a commercial, expensive, tactical-grade MEMS inertial measurement unit, taken as reference. Obtained results highlight the promising reliability and efficacy of the method in estimating position, velocity, and attitude of vehicles; in particular, bias instability and random walk reduction greater than 25% is, in fact, experienced. Moreover, differences as low as 0.025 rad and 0.89 m are obtained when comparing position and attitude estimates provided by the prototype and those granted by the tactical-grade MEMS IMU.

The Use of Allan Variation in the Study of the Random Errors of Angular Rate Sensors

This paper describes the use of Allan variation in the study of the random errors of angular rate sensors. The results of the study are presented: Allan diagram, Angle Random Walk, Bias Instability.

Performance of Quad Mass Gyroscope in the Angular Rate Mode

In this paper, the characterization and analysis of a silicon micromachined Quad Mass Gyroscope (QMG) in the rate mode of operation are presented. We report on trade-offs between full-scale, linearity, and noise characteristics of QMGs with different Q-factors. Allan Deviation (ADEV) and Power Spectral Density (PSD) analysis methods were used to evaluate the performance results. The devices in this study were instrumented for the rate mode of operation, with the Open-Loop (OL) and Force-to-Rebalance (FRB) configurations of the sense mode. For each method of instrumentation, we presented constraints on selection of control parameters with respect to the Q-factor of the devices. For the high Q-factor device of over 2 million, and uncompensated frequency asymmetry of 60 mHz, we demonstrated bias instability of 0.095∘/hr and Angle Random Walk (ARW) of 0.0107∘/hr in the OL mode of operation and bias instability of 0.065∘/hr and ARW of 0.0058∘/hr in the FRB mode of operation. We concluded that in a realistic MEMS gyroscope with imperfections (nearly matched, but non-zero frequency asymmetry), a higher Q-factor would increase the frequency stability of the drive axis resulting in an improved noise performance, but has challenges in implementation of digital control loops.