標題: MEMS SoC: observer-based coplanar gyro-free inertial measurement unit
作者: Chen, TL
Park, S
機械工程學系
Department of Mechanical Engineering
公開日期: 1-Sep-2005
摘要: This paper presents a novel design of a coplanar gyro-free inertial measurement unit (IMU) that consists of seven to nine single-axis linear accelerometers, and it can be utilized to perform the six DOF measurements for an object in motion. Unlike other gyro-fee IMUs, this design uses redundant accelerometers and state estimation techniques to facilitate the in situ and mass fabrication for the employed accelerometers. The alignment error from positioning accelerometers onto a measurement unit and the fabrication cost of an IMU can greatly be reduced. The outputs of the proposed design are three linear accelerations and three angular velocities. As compared to other gyro-free IMUs, the proposed design uses less integral operation and thus improves its sensing resolution and drifting problem. The sensing resolution of a gyro-free IMU depends on the sensing resolution of the employed accelerometers as well as the size of the measurement unit. Simulation results indicate that the sensing resolution of the proposed design is 2 degrees s(-1) for the angular velocity and 10 mu g for the linear acceleration when nine single-axis accelerometers, each with 10 mu g sensing resolution, are deployed on a 4 inch diameter disc. Also, thanks to the iterative EKF algorithm, the angle estimation error is within 10(-3) deg at 2 s.
URI: http://dx.doi.org/10.1088/0960-1317/15/9/008
http://hdl.handle.net/11536/13349
ISSN: 0960-1317
DOI: 10.1088/0960-1317/15/9/008
期刊: JOURNAL OF MICROMECHANICS AND MICROENGINEERING
Volume: 15
Issue: 9
起始頁: 1664
結束頁: 1673
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