Redundant configuration of low-cost inertial sensors for advanced navigation of small unmanned aerial systems

Alteriis, Giorgio de; Accardo, Domenico; Moriello, Rosario Schiano Lo; Ruggiero, Raffaele; Angrisani, L.

doi:10.1109/metroaerospace.2019.8869592

Cited by 13 publications

(9 citation statements)

References 23 publications

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“…At the state of the art, the most impressive results were achieved by using large-area devices with specialized packages and accurate calibration algorithms: (i) Challoner in [4] (Boeing gyroscope), used mode-matched disk resonator gyroscopes with a 8-mm diameter, reaching 0.0035 • / √ hr angle random walk (ARW) and 0.012 • /hr uncompensated bias instability (BI) for an overall structural volume of about 6.4 mm 3 and a vacuum-sealed LCC package volume of 1 cm 3 . Very similar performances were recently achieved by Xu et al in [5] with a 8-mm diameter honeycomb disk structure; (ii) Endean in [6] (Honeywell gyroscope), relying on a modesplit capacitive gyroscope with calibration and post-acquisition compensation of environmental effects, showed 0.003 • / √ hr noise and 0.01 • /hr stability in a 500 mm 3…”

Section: Introductionsupporting

confidence: 74%

“…(iii) Koenig in [7] (Northrop Grumman gyroscope), using mode-matched sensors with special encapsulation (several cm 3 ) for high-end applications, reached 0.016 • / √ hr noise and 0.02 • /hr stability on average on ten different samples.…”

Section: Packaged Volume;mentioning

confidence: 99%

“…autonomous driving [2]), and navigation towards outer worlds (e.g. cube satellites [3]), is pushing the development of miniaturized, lightweight, high-performance angular rate sensors. Planar microelectromechanical systems (MEMS) have been one candidate technology for more than a decade.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

1.3 mm² Nav-Grade NEMS-Based Gyroscope

Gadola

Buffoli

Sansa

et al. 2021

J. Microelectromech. Syst.

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The research reports the design and experimental results of novel gyroscopes based on nano-resistive sensing, capable to meet navigation grade specifications within a sensor footprint of 1.3 mm 2 and a total silicon structural volume of 0.026 mm 3 only. A significant increase of the scale-factor is obtained through a combination of (i) optimization of the Coriolis force transduction into a stress on the resistive gauges, (ii) increase of the drive motion amplitude and (iii) increase of the current through the sensing gauges. Combined with low-pressure eutectic packaging, this enables approaching the thermomechanical noise limits of the sensor at about 0.004 • / √ hr. At the same time, electronics is developed with minimum demodulation phase errors, thus enabling optimized closed-loop quadrature compensation and minimization of drift effects. Thanks to the inherent rejection of parasitic couplings and associated drifts of the used technology, the overall stability reaches 0.02 • /hr on average on 6 samples. These performances are demonstrated for a 30-Hz system bandwidth and few hundred dps input range over several samples. Navigation grade performance are confirmed by additional in-operation experiments like gyrocompassing and in-run 9-minute long angle measurements from rate integration.

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Section: Introductionsupporting

confidence: 74%

Section: Packaged Volume;mentioning

confidence: 99%

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1.3 mm² Nav-Grade NEMS-Based Gyroscope

Gadola

Buffoli

Sansa

et al. 2021

J. Microelectromech. Syst.

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“…The first test aimed at assessing the improvement in attitude and position estimation granted by the redundant configuration; for this set of tests, all the available position and speed values of the GNSS have been considered. Heading, pitch and roll provided by both prototype and single SensorTile TM have been compared with the attitude estimates granted by the STIM300; in particular, results shown in Figure 12 are associated with the heading angle, i.e., the one most difficult to be estimated due to observability issues [ 38 , 39 ]. Even though the prototype outputs appeared to be slower to converge with respect to the reference IMU, it is worth noting the remarkable concurrence experienced for time intervals greater than 400 s. In particular, in the route section referred to as straight in Figure 11 , average differences between prototype and STIM300 angle estimates results as low as 0.025rad have been encountered.…”

Section: Resultsmentioning

confidence: 99%

Performance Enhancement of Consumer-Grade MEMS Sensors through Geometrical Redundancy

Alteriis

Accardo

Conte

et al. 2021

Sensors

Self Cite

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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.

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“…When the external auxiliary information fails, these random errors will lead to a rapid degradation of the accuracy of the MEMS-based integrated navigation system. Therefore, online correction of MEMS gyro biases becomes crucial to improve the reliability and practicality of the MEMS-based integrated navigation system in low-cost applications [5], [6].…”

Section: Introductionmentioning

confidence: 99%

A Global Asymptotically Stable Nonlinear Robust Bias Observer for MEMS Gyros

Chang¹,

Wang²,

Li³

et al. 2022

Preprint

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<p> In practical applications, commercial-grade Micro-Electro-Mechanical System (MEMS) gyros tend to exhibit dynamics sensitivities which are resistant to modeling by linear drift. To address the problem, a new nonlinear robust bias observer (NRBO) is proposed in this paper. Unlike the existing attitude and gyro bias nonlinear observers, we propose a dynamics-sensitive gyro bias decomposition method to tackle unknown nonlinear dynamic models of MEMS gyro bias. We expose the potential advantages of the proposed method: the global asymptotic stability of the NBRO and the robustness to the bias instability of MEMS gyros can be guaranteed through a rational design of the attitude-angular rate nonlinear dynamic coupling (AARNDC) term and the attitude-linear coupling (ALC) term. In addition, the attitude estimation with bias correction is given in the framework of NBRO. The experiment of a cable-parallel robot demonstrate the robustness to the bias instability and the accuracy improvement of MEMS gyros. <br> </p>

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Redundant configuration of low-cost inertial sensors for advanced navigation of small unmanned aerial systems

Cited by 13 publications

References 23 publications

1.3 mm² Nav-Grade NEMS-Based Gyroscope

1.3 mm² Nav-Grade NEMS-Based Gyroscope

Performance Enhancement of Consumer-Grade MEMS Sensors through Geometrical Redundancy

A Global Asymptotically Stable Nonlinear Robust Bias Observer for MEMS Gyros

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Redundant configuration of low-cost inertial sensors for advanced navigation of small unmanned aerial systems

Cited by 13 publications

References 23 publications

1.3 mm2 Nav-Grade NEMS-Based Gyroscope

1.3 mm2 Nav-Grade NEMS-Based Gyroscope

Performance Enhancement of Consumer-Grade MEMS Sensors through Geometrical Redundancy

A Global Asymptotically Stable Nonlinear Robust Bias Observer for MEMS Gyros

Contact Info

Product

Resources

About

1.3 mm² Nav-Grade NEMS-Based Gyroscope

1.3 mm² Nav-Grade NEMS-Based Gyroscope