Design and analysis of gyro-free inertial measurement units with different configurations

Liu, Chaojun; Zhang, Shengzhi; Yu, Shiying; Yuan, Xiaocong; Liu, Sheng

doi:10.1016/j.sna.2014.04.033

Cited by 33 publications

(22 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The allocation of accelerometers have been studied for constructing a gyro-free inertial navigation system [24], [32]- [34], which focused on the configurations for maximizing the lever arm effect to estimate angular rates. Applying the similar concepts, the configuration for six accelerometers which equalizes the lever arm effect was proposed in [35].…”

Section: A Backgroundmentioning

confidence: 99%

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

View full text Add to dashboard Cite

An optimal configuration for a redundant inertial measurement unit (RIMU) minimizing the lever arm effect and the constraints for the optimality are proposed. The proposed configuration provides the allocation of each sensor in an RIMU as well as the orientation, while conventional configurations, which do not consider the lever arm effect, suggest the orientation only. The orientation is fixed, so that the configuration may guarantee the best navigation performance, and the allocation of each sensor is determined for minimizing the lever arm effect and for the densest disposition of the structures. To qualify the navigation performance of a configuration, a novel figure of merit (FOM) indicating the worst navigation performance of an RIMU is proposed first. In general, an FOM, which indicates the averaged error covariance of all the estimation, is used as a navigation performance index. The proposed FOM, however, represents the worst error covariance, which contributes to the determination of a secure configuration against excessive noises. The optimal condition of the proposed FOM is also derived, in which case the proposed configuration guarantees the best navigation performance. Using the proposed FOM, the constraint for obtaining the optimal configuration, which guarantees the best navigation performance and minimizes the lever arm effect, is proposed. The effectiveness of the proposed method is confirmed via case studies and Monte Carlo simulations, which show that the RIMU with the proposed configuration sustains sufficiently high position accuracy in spite of the lever arm effect.Index Terms-Redundant sensors, figure of merit, navigation performance, lever arm effect, optimal configuration, allocation and orientation.

show abstract

Section: A Backgroundmentioning

confidence: 99%

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

View full text Add to dashboard Cite

show abstract

“…This strategy basically involves using multiple, strategically placed accelerometers to estimate the specific force as well as the attitude information [10][11][12]. Accuracy of this approach was found to be highly dependent, on one hand, on precise positioning of the accelerometers in 2-D or 3-D space, and on the intrinsic accuracy of each MEMS devices on the other hand.…”

Section: Innovative Architectures and Strategiesmentioning

confidence: 99%

MEMS based Inertial Measurement Units

Chatterjee

Latorre

Mailly

et al. 2015

2015 Symposium on Design, Test, Integration and Packaging of MEMS/MOEMS (DTIP)

View full text Add to dashboard Cite

International audienceInertial Measurement Units (IMU) are essentially a combination of acceleration and rotation rate sensors, generating acceleration and attitude information. For strategic applications, like outer space launchers, traditional macro-scale technologies are currently employed, owing to their very high accuracies and low drift. But they are very bulky and power consuming. Recent advancements in MEMS technology have enabled us to explore micro-electro-mechanical-systems (MEMS) based IMUs for demanding applications, which is the subject of this paper

show abstract

“…Park [30] studied a GF-IMU distributed by twelve accelerometers and proposed an EKF program to estimate the direction and amplitude of angular rate through the angular acceleration term and square term. For GF-IMUs with different configurations, scholars at home and abroad have conducted a lot of research on angular motion estimation methods [31,32,33,34,35,36,37]. In addition, the installation error compensation method of GF-IMU has also been studied [38,39,40,41,42].…”

Section: Introductionmentioning

confidence: 99%

Attitude Measurement for High-Spinning Projectile with a Hollow MEMS IMU Consisting of Multiple Accelerometers and Gyros

Liu

Zhao

et al. 2019

Sensors

View full text Add to dashboard Cite

A low cost, high precision hollow structure MEMS IMU has been developed to measure the roll angular rate of a high-spinning projectile. The hollow MEMS IMU is realized by designing the scheme of non-centroid configuration of multiple accelerometers. Two dual-axis accelerometers are respectively mounted on the pitch axis and the yaw axis away from the center of mass of the high-spinning projectile. Three single-axis gyros are mounted orthogonal to each other to measure the angular rates, respectively. The roll gyro is not only used to judge the spinning direction, but also to measure and compensate for the low rotation speed of the high-spinning projectile. In order to improve the measurement accuracy of the sensor, the sensor output error is modeled and calibrated by the least square method. By analyzing the influence of noise statistical characteristics on angular rate solution accuracy, an adaptive unscented Kalman filter (AUKF) algorithm is proposed, which has a higher estimation accuracy than UKF algorithm. The feasibility of the method is verified by numerical simulation. By using the MEMS IMU device to build a semi-physical simulation platform, the solution accuracy of the angular rate is analyzed by simulating different rotation speeds of the projectile. Finally, the flight test is carried out on the rocket projectile with the hollow MEMS IMU. The test results show that the hollow MEMS IMU is reasonable and feasible, and it can calculate the roll angular rate in real time. Therefore, the hollow MEMS IMU designed in this paper has certain engineering application value for high-spinning projectiles.

show abstract

Design and analysis of gyro-free inertial measurement units with different configurations

Cited by 33 publications

References 19 publications

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

MEMS based Inertial Measurement Units

Attitude Measurement for High-Spinning Projectile with a Hollow MEMS IMU Consisting of Multiple Accelerometers and Gyros

Contact Info

Product

Resources

About