Strapdown Inertial Navigation Systems for Positioning Mobile Robots—MEMS Gyroscopes Random Errors Analysis Using Allan Variance Method

Measuring the viscosity and density of petroleum products is important for their proper production, transportation and application. Viscosity and density are the main parameters determining the composition and structure of petroleum products. Therefore, in the industry, to control the quality of petroleum products during various technological processes, automatic and non-automatic devices are used for their measurement. The accuracy of measuring the viscosity and density of petroleum products is an important factor. The authors analyzed different methods of measuring the viscosity and density of petroleum products and synthesized three versions of throttle bridge transducers. These versions implement differential measurement methods and have different numbers of laminar and turbulent throttles. The authors obtained new equations of static conversion functions by channels of measuring the kinematic viscosity and density of petroleum products of the proposed throttle bridge transducers. The authors developed a block diagram and designed measuring equipment to study experimentally the static characteristics of the throttle bridge transducers. The authors determined that the maximal relative deviations of the results of experimental studies from numerical calculations of a static conversion factor by channels of kinematic viscosity and density were 5.88% and 8.76%, respectively. The authors developed two versions of automatic devices for measuring the kinematic viscosity and density of petroleum products based on the proposed throttle bridge transducers. The first version is an automatic analyzer with tracking astatic balancing. The second version is an automatic analyzer with deployment balancing. The authors developed constructions of both versions of automatic analyzers and obtained the results of experimental measuring of the kinematic viscosity and density of petroleum products in different ranges.

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“…In [45], the Allan variance method was proposed for identification of the noise structure in channels of the measuring instrument.…”

Section: Resultsmentioning

confidence: 99%

Developing and Investigating the Analyzers of Kinematic Viscosity and Density of Petroleum Products on Throttle Bridge Transducers

et al. 2021

Self Cite

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“…Allan variance (AV) is a time-domain signal analysis method originally developed for oscillator stability studies [46][47][48]. Later, it was also adapted to analyze the stochastic drift properties of inertial sensors [23, [49][50][51]. In this method, the average relative deviation of the instantaneous value 𝑦 in the time interval 𝜏 is determined (10), and then the standard deviation σ(τ) is calculated in adjacent time intervals (10-13):…”

Section: Allan's Methods Of Variancementioning

confidence: 99%

Analysis of Stochastic Properties of MEMS Accelerometers and Gyroscopes Used in the Miniature Flight Data Recorder

Rzucidło,

Kopecki,

Szczerba

et al. 2024

Applied Sciences

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MEMS (micro-electro-mechanical system) gyroscopes and accelerometers are used in several applications. They are very popular due to their small size, low price, and accessibility. The design of MEMS accelerometers enables the measurement of vibrations, with frequencies from tenths of hertz to even 1 kHz. MEMS gyroscopes can be applied to measure angular rates, and indirectly also angular oscillations with frequencies similar to accelerometers. Despite significant stochastic errors, MEMS sensors are used not only in popular domestic appliances (e.g., smartphones) but also in safety-critical units, such as aeronautical attitude and heading reference systems (AHRSs). In engineering, methods of stochastic properties analysis are important tools for sensor selection, verification, and the design of measurement algorithms. In this article, three methods used for the analysis of stochastic properties of sensors are presented and comparative analyses are shown. The applied measurement frequencies (1 kHz) were much higher than those typically found in MEMS sensor applications. Additionally, an exemplary analysis of temperature drift frequency, as well as the possibility for the synthesis of complementary filter parameters with the use of the described methods, is shown. Assessment of the stochastic properties of MEMS accelerometers and gyroscopes was performed under both constant and variable temperature conditions (during warm-up after switching on) with the use of classic methods, such as power spectral density (PSD) and Allan variance (AV), as well as the less known but very promising generalized method of wavelet moments (GMWM).

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“…Accelerometers based on micro-electro-mechanical system (MEMS) are extensively applied in inertial integrated navigation systems, mobile vehicles and smart robotics [1][2][3]. They have also been used for in vivo monitoring in biomedical field, image stabilization device in portable camera, and virtual reality (VR) technology [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Versatile and effective design platform for surface acoustic wave accelerometers

et al. 2023

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Micro-Electro-Mechanical Systems (MEMS) accelerometers have great potentials for applications in aerospace, autonomous driving and consumer electronics. However, most of their working principles are based on capacitive and resistance types, which cannot be easily used for wireless and passive sensing, while surface acoustic waves (SAWs) are the key solution for this problem. Due to complex acoustic-electric-mechanical coupling during accelerator operations, currently, there needs an accurate, reliable, and efficient design and simulation platform to improve the structure and performance of SAW based accelerometers. In this work, we proposed an accurate, reliable, and efficient modeling platform to optimize designs of SAW accelerometers, using a double-ended cantilever beam structure as an example. This model integrated elastic acoustic effect and the coupled wave equations under both the mechanical and electrical loading using the finite element analysis, and obtained acceleration-frequency responses of the accelerators. We have systematically simulated effects of thickness of piezoelectric film, wavelengths, and structural parameters of cantilever beams, and the simulation results are well consistent with the theoretical results. Finally, using the developed model, we designed a high-G SAW accelerometer (up to 20000 g), which achieved a high sensitivity (-41.8 Hz/g) and excellent linearity (0.9999), and another high sensitivity accelerometer (3.02 KHz/g), with a good linearity (0.9999) over a 100 g acceleration range.

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Strapdown Inertial Navigation Systems for Positioning Mobile Robots—MEMS Gyroscopes Random Errors Analysis Using Allan Variance Method

Cited by 18 publications

References 25 publications

Developing and Investigating the Analyzers of Kinematic Viscosity and Density of Petroleum Products on Throttle Bridge Transducers

Developing and Investigating the Analyzers of Kinematic Viscosity and Density of Petroleum Products on Throttle Bridge Transducers

Analysis of Stochastic Properties of MEMS Accelerometers and Gyroscopes Used in the Miniature Flight Data Recorder

Versatile and effective design platform for surface acoustic wave accelerometers

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