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15 pages, 14773 KiB

Open AccessArticle

A Gyroscope Signal Denoising Method Based on Empirical Mode Decomposition and Signal Reconstruction

by Chenchen Liu, Zhiqiang Yang, Zhen Shi, Ji Ma and Jian Cao

Sensors 2019, 19(23), 5064; https://doi.org/10.3390/s19235064 - 20 Nov 2019

Cited by 27 | Viewed by 3744

Abstract

To suppress the random drift error of a gyroscope signal, this paper proposes a novel denoising method, which is based on processing the intrinsic mode functions (IMFs) obtained by empirical mode decomposition (EMD). Considering that a gyroscope signal contains colored noise in addition [...] Read more.

To suppress the random drift error of a gyroscope signal, this paper proposes a novel denoising method, which is based on processing the intrinsic mode functions (IMFs) obtained by empirical mode decomposition (EMD). Considering that a gyroscope signal contains colored noise in addition to Gaussian white noise, fractal Gaussian noise (FGN) was introduced to quantify the noise in the gyroscope data. The proposed denoising method combines the FGN energy model and the modified method of Hausdorff distance (HD) to adaptively divide the IMFs into three categories (pure noise, pure information, and mixed components of noise and information). Then, the information IMFs and the mixed components after thresholding were selected to give the optimal signal reconstruction. Static and dynamic signal tests of the fiber optic gyroscope (FOG) were carried out to illustrate the performance of the proposed method, and compared with other traditional EMD denoising methods, such as the Euclidean norm measure method (EMD-

l_{2}

-norm) and the sliding average filtering method (EMD-SA). The results of the analysis of both the static and dynamic signal tests indicate the effectiveness of the proposed method. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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14 pages, 3387 KiB

Open AccessArticle

Research on Dynamic Inertial Estimation Technology for Deck Deformation of Large Ships

by Bo Ren, Tianjiao Li and Xiang Li

Sensors 2019, 19(19), 4167; https://doi.org/10.3390/s19194167 - 25 Sep 2019

Cited by 3 | Viewed by 1983

Abstract

Many kinds of weapon systems and launching equipment on the deck of large ships are easily affected by deck deformation. In order to ensure the accuracy of weapon systems and the safety of taking off and landing of carrier aircraft, a dynamic estimation [...] Read more.

Many kinds of weapon systems and launching equipment on the deck of large ships are easily affected by deck deformation. In order to ensure the accuracy of weapon systems and the safety of taking off and landing of carrier aircraft, a dynamic estimation method combining the main inertial navigation systems (INS) and the sub-inertial navigation systems (SINS) is designed to estimate the curvature and torsion of any trajectory on the deck. Our contributions start from the fact that the area of concern extends from the fixed points to any trajectory on the deck. The dynamic filter algorithm of wavelet combined with Kalman filter is used to process the acquired data. The wavelet method is used to remove the outliers in the acquired data, and the Kalman filter effectively reduces the influence of white noise, so that the estimation accuracy is guaranteed. The simulation results clearly show that the deck deformation of large ships can be obtained accurately in real-time over the observed area which proved that this dynamic inertial measurement method is feasible in practical engineering application. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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23 pages, 6854 KiB

Open AccessArticle

Optimization of a New High Rotary Missile-Borne Stabilization Platform

by Xiaokai Wei, Jie Li, Debiao Zhang, Kaiqiang Feng, Jiayu Zhang, Jinqiang Li and Zhenglong Lu

Sensors 2019, 19(19), 4143; https://doi.org/10.3390/s19194143 - 24 Sep 2019

Cited by 3 | Viewed by 3078

Abstract

The passive semi-strapdown roll stabilized platform is an inertial platform, which can isolate the rolling of a projectile body by a special mechanical device. In the passive semi-strapdown roll stabilized platform, the bearing device plays an important role in isolating the rolling of [...] Read more.

The passive semi-strapdown roll stabilized platform is an inertial platform, which can isolate the rolling of a projectile body by a special mechanical device. In the passive semi-strapdown roll stabilized platform, the bearing device plays an important role in isolating the rolling of the projectile body. The smaller the friction moment of bearing, the smaller the swing angular velocity of the platform, the smaller the range of inertial sensors required, the higher the accuracy of the navigation solution. In order to further reduce the swing angular velocity of the platform and improve the navigation accuracy, the bearing nested structure that could reduce the friction torque is proposed. Combined with the working principle of the passive semi-strapdown roll stabilized platform, the mechanical calculation model of friction at the moment of bearing the nested structure was established. A series of simulation analysis and tests showed that the output stability value of the friction moment was 47% that of a single bearing; the roll rate of the platform based on the bearing nested structure decreased to 50% of that based on the single bearing structure; the position and attitude errors measured of the platform based on the bearing nested structure decreased to more than 50% of that based on the single bearing structure. It showed that the bearing nested structure could effectively reduce the friction moment, improve the axial reliability of the bearing, and provide a more stable working environment for the passive semi-strapdown roll stabilized platform. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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16 pages, 8486 KiB

Open AccessArticle

Application and Optimization of Wavelet Transform Filter for North-Seeking Gyroscope Sensor Exposed to Vibration

by Ji Ma, Zhiqiang Yang, Zhen Shi, Xuewei Zhang and Chenchen Liu

Sensors 2019, 19(16), 3624; https://doi.org/10.3390/s19163624 - 20 Aug 2019

Cited by 11 | Viewed by 3884

Abstract

Conventional wavelet transform (WT) filters have less effect on de-noising and correction of a north-seeking gyroscope sensor exposed to vibration, since the optimal wavelet decomposed level for de-noising is difficult to determine. To solve this problem, this paper proposes an optimized WT filter [...] Read more.

Conventional wavelet transform (WT) filters have less effect on de-noising and correction of a north-seeking gyroscope sensor exposed to vibration, since the optimal wavelet decomposed level for de-noising is difficult to determine. To solve this problem, this paper proposes an optimized WT filter which is suited to the magnetic levitation gyroscope (GAT). The proposed method was tested on an equivalent mock-up network of the tunnels associated with the Hong Kong‒Zhuhai‒Macau Bridge. The gyro-observed signals exposed to vibration were collected in our experiment, and the empirical values of the optimal wavelet decomposed levels (from 6 to 10) for observed signals were constrained and validated by the high-precision Global Navigation Satellite System (GNSS) network. The result shows that the lateral breakthrough error of the tunnel was reduced from 12.1 to 3.8 mm with a ratio of 68.7%, which suggests that the method is able to correct the abnormal signal of a north-seeking gyroscope sensor exposed to vibration. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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20 pages, 5448 KiB

Open AccessArticle

Research on Filtering Algorithm of MEMS Gyroscope Based on Information Fusion

by Hui Guo and Huajie Hong

Sensors 2019, 19(16), 3552; https://doi.org/10.3390/s19163552 - 15 Aug 2019

Cited by 16 | Viewed by 4996

Abstract

As an important inertial sensor, the gyroscope is mainly used to measure angular velocity in inertial space. However, due to the influence of semiconductor thermal noise and electromagnetic interference, the output of the gyroscope has a certain random noise and drift, which affects [...] Read more.

As an important inertial sensor, the gyroscope is mainly used to measure angular velocity in inertial space. However, due to the influence of semiconductor thermal noise and electromagnetic interference, the output of the gyroscope has a certain random noise and drift, which affects the accuracy of the detected angular velocity signal, thus interfering with the accuracy of the stability of the whole system. In order to reduce the noise and compensate for the drift of the MEMS (Micro Electromechanical System) gyroscope during usage, this paper proposes a Kalman filtering method based on information fusion, which uses the MEMS gyroscope and line accelerometer signals to implement the filtering function under the Kalman algorithm. The experimental results show that compared with the commonly used filtering methods, this method allows significant reduction of the noise of the gyroscope signal and accurate estimation of the drift of the gyroscope signal, and thus improves the control performance of the system and the stability accuracy. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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14 pages, 1268 KiB

Open AccessArticle

Does the Femoral Head Size in Hip Arthroplasty Influence Lower Body Movements during Squats, Gait and Stair Walking? A Clinical Pilot Study Based on Wearable Motion Sensors

by Helena Grip, Kjell G Nilsson, Charlotte K Häger, Ronnie Lundström and Fredrik Öhberg

Sensors 2019, 19(14), 3240; https://doi.org/10.3390/s19143240 - 23 Jul 2019

Cited by 17 | Viewed by 4897

Abstract

A hip prosthesis design with larger femoral head size may improve functional outcomes compared to the conventional total hip arthroplasty (THA) design. Our aim was to compare the range of motion (RoM) in lower body joints during squats, gait and stair walking using [...] Read more.

A hip prosthesis design with larger femoral head size may improve functional outcomes compared to the conventional total hip arthroplasty (THA) design. Our aim was to compare the range of motion (RoM) in lower body joints during squats, gait and stair walking using a wearable movement analysis system based on inertial measurement units (IMUs) in three age-matched male groups: 6 males with a conventional THA (THAC), 9 with a large femoral head (LFH) design, and 8 hip- and knee-asymptomatic controls (CTRL). We hypothesized that the LFH design would allow a greater hip RoM, providing movement patterns more like CTRL, and a larger side difference in hip RoM in THAC when compared to LFH and controls. IMUs were attached to the pelvis, thighs and shanks during five trials of squats, gait, and stair ascending/descending performed at self-selected speed. THAC and LFH participants completed the Hip dysfunction and Osteoarthritis Outcome Score (HOOS). The results showed a larger hip RoM during squats in LFH compared to THAC. Side differences in LFH and THAC groups (operated vs. non-operated side) indicated that movement function was not fully recovered in either group, further corroborated by non-maximal mean HOOS scores (LFH: 83 ± 13, THAC: 84 ± 19 groups, vs. normal function 100). The IMU system may have the potential to enhance clinical movement evaluations as an adjunct to clinical scales. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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17 pages, 5466 KiB

Open AccessArticle

The Dead Time Characterization Method of Quartz Flexure Accelerometers Using Monotonicity Number

by Bin Wu, Lingyun Ye, Tiantian Huang, Zhaowei Yang and Kaichen Song

Sensors 2019, 19(14), 3123; https://doi.org/10.3390/s19143123 - 15 Jul 2019

Cited by 2 | Viewed by 3623

Abstract

Dead time estimation is important in the design process of quartz flexure accelerometers. However, to the authors’ knowledge, the dead time existing in quartz flexure accelerometers is not well investigated in conventional identification studies. In this paper, the dead time, together with the [...] Read more.

Dead time estimation is important in the design process of quartz flexure accelerometers. However, to the authors’ knowledge, the dead time existing in quartz flexure accelerometers is not well investigated in conventional identification studies. In this paper, the dead time, together with the open-loop transfer function of quartz flexure accelerometers, is identified from step excitation experiments using two steps. Firstly, a monotonicity number was proposed to estimate the dead time. Analysis showed that the monotonicity number was robust enough to measurement noise and sensitive to step excitation. Secondly, parameters of the open-loop transfer function were identified using the least mean squares algorithm. A simulation example was applied to demonstrate the validity of the proposed method. The verified method was used to test a quartz flexure accelerometer. The experimental result shows that the dead time was 500 μs. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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13 pages, 2706 KiB

Open AccessArticle

Optical and Electrical Method Characterizing the Dynamic Behavior of the Fused Silica Cylindrical Resonator

by Zhinan Qiu, Tianliang Qu, Yao Pan, Yonglei Jia, Zhenfang Fan, Kaiyong Yang, Jie Yuan and Hui Luo

Sensors 2019, 19(13), 2928; https://doi.org/10.3390/s19132928 - 2 Jul 2019

Cited by 10 | Viewed by 3484

Abstract

Fused silica cylindrical resonant gyroscope (CRG) is a novel high-precision solid-wave gyroscope, whose performance is primarily determined by the cylindrical resonator’s frequency split and quality factor (Q factor). The laser Doppler vibrometer (LDV) is extensively used to measure the dynamic behavior of fused [...] Read more.

Fused silica cylindrical resonant gyroscope (CRG) is a novel high-precision solid-wave gyroscope, whose performance is primarily determined by the cylindrical resonator’s frequency split and quality factor (Q factor). The laser Doppler vibrometer (LDV) is extensively used to measure the dynamic behavior of fused silica cylindrical resonators. An electrical method was proposed to characterize the dynamic behavior of the cylindrical resonator to enhance the measurement efficiency and decrease the equipment cost. With the data acquisition system and the designed signal analysis program based on LabVIEW software, the dynamic behavior of the fused silica cylindrical resonator can be analyzed automatically and quickly. We compared all the electrical measurement results with the optical detection by LDV, demonstrating that the fast Fourier transform (FFT) result of the resonant frequency measured by the electrical method was 0.12 Hz higher than that with the optical method. Thus, the frequency split measured by the electrical and optical methods was the same in 0.18 Hz, and the measurement of the Q factor was basically the same in 730,000. We conducted all measurements under the same operation condition, and the optical method was used as a reference, demonstrating that the electrical method could characterize the dynamic behavior of the fused silica cylindrical resonator and enhance the measurement efficiency. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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20 pages, 7443 KiB

Open AccessArticle

The Compass Error Comparison of an Onboard Standard Gyrocompass, Fiber-Optic Gyrocompass (FOG) and Satellite Compass

by Krzysztof Jaskólski, Andrzej Felski and Paweł Piskur

Sensors 2019, 19(8), 1942; https://doi.org/10.3390/s19081942 - 25 Apr 2019

Cited by 17 | Viewed by 5599

Abstract

The aim of the presented research was to analyze the accuracy indications of three types of compass systems for the purposes of meeting warship modernization requirements. The authors of this paper have made an attempt to compare the accuracy of an onboard standard [...] Read more.

The aim of the presented research was to analyze the accuracy indications of three types of compass systems for the purposes of meeting warship modernization requirements. The authors of this paper have made an attempt to compare the accuracy of an onboard standard gyrocompass, a fiber-optic gyrocompass (FOG) and a satellite compass in real shipping circumstances. The research was carried out in the Gulf of Gdansk area, during the preparation of hydrographic surveys on stable courses. Three heading recordings have been taken into consideration. The helmsman’s operation and vessel inertia were analyzed and removed according to a spectrum analysis. Transient characteristics and the spectrum analysis (based on the Fourier transform theory and headings descriptions in the frequency domain) are presented. Data, processed using a band-stop finite impulse response (FIR) filter to reduce low-frequency heading distortions, are presented for further analyses. The statistics of errors of the compasses investigated, as well as the spectrum of these errors, are also presented. Based on accuracy measurements, the possibility of using the most accurate heading data as the input signal to the automatic ship control system was considered. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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18 pages, 2420 KiB

Open AccessArticle

Efficient Modulation and Processing Method for Closed-Loop Fiber Optic Gyroscope with Piezoelectric Modulator

by Michal Skalský, Zdeněk Havránek and Jiří Fialka

Sensors 2019, 19(7), 1710; https://doi.org/10.3390/s19071710 - 10 Apr 2019

Cited by 14 | Viewed by 5683

Abstract

This paper presents a simple method for compensating the Sagnac phase shift in an interferometric fiber-optic gyroscope (I-FOG) with a piezoelectric modulator. The common advantages of I-FOGs with closed-loop compensation are linearized output characteristics and insensitivity to the light source power, including its [...] Read more.

This paper presents a simple method for compensating the Sagnac phase shift in an interferometric fiber-optic gyroscope (I-FOG) with a piezoelectric modulator. The common advantages of I-FOGs with closed-loop compensation are linearized output characteristics and insensitivity to the light source power, including its time and thermal-induced fluctuations. Whereas closed-loop operation is normally achieved via ramp modulation requiring an electro-optic modulator, all-fiber architectures with a piezoelectric modulator are mostly limited to open loop. Nevertheless, such setups can more conveniently utilize a less expensive single-mode fiber with depolarized light and do not require any custom-made components. The proposed method allows us to combine the advantages of both approaches. Closed-loop compensation is ensured by adding further sinusoidal modulation to the common biasing modulation, such that the Sagnac phase shift is compensated solely at the sampling instants. We describe and experimentally demonstrate the proposed approach, utilizing a test setup to compare our closed-loop solution with open-loop operation. The results denote that the method provides a cost-efficient manner of performance improvement compared to the open-loop I-FOGs based on a piezoelectric modulator. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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18 pages, 2654 KiB

Open AccessArticle

Portable Sensors Add Reliable Kinematic Measures to the Assessment of Upper Extremity Function

by Fredrik Öhberg, Tomas Bäcklund, Nina Sundström and Helena Grip

Sensors 2019, 19(5), 1241; https://doi.org/10.3390/s19051241 - 12 Mar 2019

Cited by 15 | Viewed by 3784

Abstract

Ordinal scales with low resolution are used to assess arm function in clinic. These scales may be improved by adding objective kinematic measures. The aim was to analyze within-subject, inter-rater and overall reliability (i.e., including within-subject and inter-rater reliability) and check the system’s [...] Read more.

Ordinal scales with low resolution are used to assess arm function in clinic. These scales may be improved by adding objective kinematic measures. The aim was to analyze within-subject, inter-rater and overall reliability (i.e., including within-subject and inter-rater reliability) and check the system’s validity of kinematic measures from inertial sensors for two such protocols on one person. Twenty healthy volunteers repeatedly performed two tasks, finger-to-nose and drinking, during two test sessions with two different raters. Five inertial sensors, on the forearms, upper arms and xiphoid process were used. Comparisons against an optical camera system evaluated the measurement validity. Cycle time, range of motion (ROM) in shoulder and elbow were calculated. Bland–Altman plots and linear mixed models including the generalizability (G) coefficient evaluated the reliability of the measures. Within-subject reliability was good to excellent in both tests (G = 0.80–0.97) and may serve as a baseline when assessing upper extremities in future patient groups. Overall reliability was acceptable to excellent (G = 0.77–0.94) for all parameters except elbow axial rotation in finger-to-nose task and both elbow axial rotation and flexion/extension in drinking task, mainly due to poor inter-rater reliability in these parameters. The low to good reliability for elbow ROM probably relates to high within-subject variability. The sensors provided good to excellent measures of cycle time and shoulder ROM in non-disabled individuals and thus have the potential to improve today’s assessment of arm function. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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13 pages, 3885 KiB

Open AccessArticle

Verification of a Portable Motion Tracking System for Remote Management of Physical Rehabilitation of the Knee

by Kevin M. Bell, Chukwudi Onyeukwu, Michael P. McClincy, Marcus Allen, Laura Bechard, Abhigyan Mukherjee, Robert A. Hartman, Clair Smith, Andrew D. Lynch and James J. Irrgang

Sensors 2019, 19(5), 1021; https://doi.org/10.3390/s19051021 - 28 Feb 2019

Cited by 30 | Viewed by 7052

Abstract

Rehabilitation following knee injury or surgery is critical for recovery of function and independence. However, patient non-adherence remains a significant barrier to success. Remote rehabilitation using mobile health (mHealth) technologies have potential for improving adherence to and execution of home exercise. We developed [...] Read more.

Rehabilitation following knee injury or surgery is critical for recovery of function and independence. However, patient non-adherence remains a significant barrier to success. Remote rehabilitation using mobile health (mHealth) technologies have potential for improving adherence to and execution of home exercise. We developed a remote rehabilitation management system combining two wireless inertial measurement units (IMUs) with an interactive mobile application and a web-based clinician portal (interACTION). However, in order to translate interACTION into the clinical setting, it was first necessary to verify the efficacy of measuring knee motion during rehabilitation exercises for physical therapy and determine if visual feedback significantly improves the participant’s ability to perform the exercises correctly. Therefore, the aim of this study was to verify the accuracy of the IMU-based knee angle measurement system during three common physical therapy exercises, quantify the effect of visual feedback on exercise performance, and understand the qualitative experience of the user interface through survey data. A convenience sample of ten healthy control participants were recruited for an IRB-approved protocol. Using the interACTION application in a controlled laboratory environment, participants performed ten repetitions of three knee rehabilitation exercises: heel slides, short arc quadriceps contractions, and sit-to-stand. The heel slide exercise was completed without feedback from the mobile application, then all exercises were performed with visual feedback. Exercises were recorded simultaneously by the IMU motion tracking sensors and a video-based motion tracking system. Validation showed moderate to good agreement between the two systems for all exercises and accuracy was within three degrees. Based on custom usability survey results, interACTION was well received. Overall, this study demonstrated the potential of interACTION to measure range of motion during rehabilitation exercises for physical therapy and visual feedback significantly improved the participant’s ability to perform the exercises correctly. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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18 pages, 3000 KiB

Open AccessArticle

Attitude Angle Compensation for a Synchronous Acquisition Method Based on an MEMS Sensor

by Huanhuan Tian, Yixiao Liu, Jiqin Zhou, Ying Wang, Jing Wang and Weigong Zhang

Sensors 2019, 19(3), 483; https://doi.org/10.3390/s19030483 - 24 Jan 2019

Cited by 2 | Viewed by 4254

Abstract

As a new type of micro-electro-mechanical systems (MEMS) inertial sensor, the Quartz Vibrating Beam Accelerometer (QVBA) is widely used in intelligent sweeping robots, small aircraft, navigation systems, etc. For these applications, correcting and compensating the attitude angle with the result of acceleration plays [...] Read more.

As a new type of micro-electro-mechanical systems (MEMS) inertial sensor, the Quartz Vibrating Beam Accelerometer (QVBA) is widely used in intelligent sweeping robots, small aircraft, navigation systems, etc. For these applications, correcting and compensating the attitude angle with the result of acceleration plays an important role to improve the measurement accuracy. The synchronization error between the measurement of the accelerometer and gyroscope attitude angle has an adverse impact on the accuracy of the attitude angle. In this paper, a synchronous acquisition scheme of the accelerometer and gyroscope attitude angle in a strapdown inertial navigation system (SINS) is proposed. At the same time, to improve the sampling accuracy and the conversion speed of QVBA, an improved equal-precision frequency measuring method is also implemented in this paper. The hardware float point unit (FPU) is used to accelerate the calculation of the frequency measurement value. The long-term cumulative error of the frequency measurement value is less than

10^{- 4}

. The calculation process time from sampling to attitude angle compensation calculation is reduced by 40.8%. This work has played a very good role in improving the measurement accuracy and speed of the SINS. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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10 pages, 6166 KiB

Open AccessArticle

Scale Factor Calibration for a Rotating Accelerometer Gravity Gradiometer

by Zhongguang Deng, Chenyuan Hu, Xiangqing Huang, Wenjie Wu, Fangjing Hu, Huafeng Liu and Liangcheng Tu

Sensors 2018, 18(12), 4386; https://doi.org/10.3390/s18124386 - 11 Dec 2018

Cited by 3 | Viewed by 4468

Abstract

Rotating Accelerometer Gravity Gradiometers (RAGGs) play a significant role in applications such as resource exploration and gravity aided navigation. Scale factor calibration is an essential procedure for RAGG instruments before being used. In this paper, we propose a calibration system for a gravity [...] Read more.

Rotating Accelerometer Gravity Gradiometers (RAGGs) play a significant role in applications such as resource exploration and gravity aided navigation. Scale factor calibration is an essential procedure for RAGG instruments before being used. In this paper, we propose a calibration system for a gravity gradiometer to obtain the scale factor effectively, even when there are mass disturbance surroundings. In this system, four metal spring-based accelerometers with a good consistency are orthogonally assembled onto a rotary table to measure the spatial variation of the gravity gradient. By changing the approaching pattern of the reference gravity gradient excitation object, the calibration results are generated. Experimental results show that the proposed method can efficiently and repetitively detect a gravity gradient excitation mass weighing 260 kg within a range of 1.6 m and the scale factor of RAGG can be obtained as (5.4 ± 0.2) E/μV, which is consistent with the theoretical simulation. Error analyses reveal that the performance of the proposed calibration scheme is mainly limited by positioning error of the excitation and can be improved by applying higher accuracy position rails. Furthermore, the RAGG is expected to perform more efficiently and reliably in field tests in the future. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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12 pages, 3029 KiB

Open AccessArticle

Spin Rate Effects in a Micromachined Electrostatically Suspended Gyroscope

by Boqian Sun, Shunyue Wang, Yidong Tan, Yunfeng Liu and Fengtian Han

Sensors 2018, 18(11), 3901; https://doi.org/10.3390/s18113901 - 12 Nov 2018

Cited by 1 | Viewed by 3569

Abstract

Spin rate of a high-speed spinning-rotor gyroscope will make a significant impact on angular rate sensor performances such as the scale factor, resolution, measurement range, and bias stability. This paper presents the spin rate effects on performance indicators of a microelectromechanical systems (MEMS) [...] Read more.

Spin rate of a high-speed spinning-rotor gyroscope will make a significant impact on angular rate sensor performances such as the scale factor, resolution, measurement range, and bias stability. This paper presents the spin rate effects on performance indicators of a microelectromechanical systems (MEMS) gyroscope where a free-spinning rotor is electrostatically suspended in an evacuated vacuum cavity and functions as a dual-axis angular rate sensor. Theoretical models of the scale factor and measurement range of such a spinning-rotor gyroscope are derived. The experimental results indicate that the measured scale factors at different settings of the spin rate match well with the theoretical predication. In order to separate the disturbance component of the rotation control loop on the gyroscope output, a testing strategy is proposed by operating the gyroscope at different spin rates. Experimental results on a prototype gyroscope show that the squared drive voltage generated by the rotation control loop is approximately proportional to the noise of the gyroscope output. It was further investigated that an improved performance of such spinning-rotor gyroscopes can be achieved by operating the gyroscope rotor at an optimal spin rate. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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18 pages, 3024 KiB

Open AccessArticle

An Improved ACKF/KF Initial Alignment Method for Odometer-Aided Strapdown Inertial Navigation System

by Kang Gao, Shunqing Ren, Guoxing Yi, Jiapeng Zhong and Zhenhuan Wang

Sensors 2018, 18(11), 3896; https://doi.org/10.3390/s18113896 - 12 Nov 2018

Cited by 16 | Viewed by 2838

Abstract

For a land-vehicle strapdown inertial navigation system (SINS), the problem of initial alignment with large misalignment angle in-motion needs to be solved urgently. This paper proposes an improved ACKF/KF initial alignment method for SINS aided by odometer. The SINS error equation with large [...] Read more.

For a land-vehicle strapdown inertial navigation system (SINS), the problem of initial alignment with large misalignment angle in-motion needs to be solved urgently. This paper proposes an improved ACKF/KF initial alignment method for SINS aided by odometer. The SINS error equation with large misalignment angle is established first in the form of an Euler angle. The odometer/gyroscope dead reckoning (DR) error equation is deduced, which makes the observation equation linear when the position is taken as the observation of the Kalman filter. Then, based on the cubature Kalman filter, the Sage-Husa adaptive filter and the characteristics of the observation equation, an improved ACKF/KF method is proposed, which can accomplish initial alignment well in the case of unknown measurement noise. Computer simulation results show that the performance of the proposed ACKF/KF algorithm is superior to EKF, CKF and AEKF method in accuracy and stability, and the vehicle test validates its advantages. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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15 pages, 5815 KiB

Open AccessArticle

Development of a High-Sensitivity Optical Accelerometer for Low-Frequency Vibration Measurement

by Rui-Jun Li, Ying-Jun Lei, Zhen-Xin Chang, Lian-Sheng Zhang and Kuang-Chao Fan

Sensors 2018, 18(9), 2910; https://doi.org/10.3390/s18092910 - 1 Sep 2018

Cited by 32 | Viewed by 6606

Abstract

Low-frequency vibration is a harmful factor that affects the accuracy of micro/nano-measuring machines. Low-frequency vibration cannot be completely eliminated by passive control methods, such as the use of air-floating platforms. Therefore, low-frequency vibrations must be measured before being actively suppressed. In this study, [...] Read more.

Low-frequency vibration is a harmful factor that affects the accuracy of micro/nano-measuring machines. Low-frequency vibration cannot be completely eliminated by passive control methods, such as the use of air-floating platforms. Therefore, low-frequency vibrations must be measured before being actively suppressed. In this study, the design of a low-cost high-sensitivity optical accelerometer is proposed. This optical accelerometer mainly comprises three components: a seismic mass, a leaf spring, and a sensing component based on a four-quadrant photodetector (QPD). When a vibration is detected, the seismic mass moves up and down due to the effect of inertia, and the leaf spring exhibits a corresponding elastic deformation, which is amplified by using an optical lever and measured by the QPD. Then, the acceleration can be calculated. The resonant frequencies and elastic coefficients of various seismic structures are simulated to attain the optimal detection of low-frequency, low-amplitude vibration. The accelerometer is calibrated using a homemade vibration calibration system, and the calibration experimental results demonstrate that the sensitivity of the optical accelerometer is 1.74 V (m·s⁻²)⁻¹, the measurement range of the accelerometer is 0.003–7.29 m·s⁻², and the operating frequencies range of 0.4–12 Hz. The standard deviation from ten measurements is under 7.9 × 10⁻⁴ m·s⁻². The efficacy of the optical accelerometer in measuring low-frequency, low-amplitude dynamic responses is verified. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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14 pages, 1709 KiB

Open AccessArticle

A Separated Calibration Method for Inertial Measurement Units Mounted on Three-Axis Turntables

by Chun-mei Dong, Shun-qing Ren, Xi-jun Chen and Zhen-huan Wang

Sensors 2018, 18(9), 2846; https://doi.org/10.3390/s18092846 - 28 Aug 2018

Cited by 17 | Viewed by 4669

Abstract

Inertial Measurement Unit (IMU) calibration accuracy is easily affected by turntable errors, so the primary aim of this study is to reduce the dependence on the turntable’s precision during the calibration process. Firstly, the indicated-output of the IMU considering turntable errors is constructed [...] Read more.

Inertial Measurement Unit (IMU) calibration accuracy is easily affected by turntable errors, so the primary aim of this study is to reduce the dependence on the turntable’s precision during the calibration process. Firstly, the indicated-output of the IMU considering turntable errors is constructed and with the introduction of turntable errors, the functional relationship between turntable errors and the indicated-output was derived. Then, based on a D-suboptimal design, a calibration method for simultaneously identifying the IMU error model parameters and the turntable errors was proposed. Simulation results showed that some turntable errors could thus be effectively calibrated and automatically compensated. Finally, the theoretical validity was verified through experiments. Compared with the traditional method, the method proposed in this paper can significantly reduce the influence of the turntable errors on the IMU calibration accuracy. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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18 pages, 8545 KiB

Open AccessArticle

Thermal Compensation of Low-Cost MEMS Accelerometers for Tilt Measurements

by Giuseppe Ruzza, Luigi Guerriero, Paola Revellino and Francesco M. Guadagno

Sensors 2018, 18(8), 2536; https://doi.org/10.3390/s18082536 - 2 Aug 2018

Cited by 40 | Viewed by 5315

Abstract

Low-cost MEMS accelerometers have the potential to be used in a number of tilt-based monitoring applications but have the disadvantage of being very sensitive to temperature variation (thermal drift). In this paper, we analyze the thermal behavior of a low-cost sensor in the [...] Read more.

Low-cost MEMS accelerometers have the potential to be used in a number of tilt-based monitoring applications but have the disadvantage of being very sensitive to temperature variation (thermal drift). In this paper, we analyze the thermal behavior of a low-cost sensor in the range −10 to +45 °C in order to provide a simple compensation strategy to mitigate this problem. For sensor analysis, we have developed a miniaturized thermal chamber, which was mounted on a tilting device to account for tilt angle variation. The obtained raw data were used to construct low degree polynomial equations that by relating the measurement error induced by thermal drift (i.e., acceleration residuals) to temperature and inclination (of each specific axis), can be used for thermal compensation. To validate our compensation strategy, we performed a field monitoring test and evaluated the compensation performance by calculating RMS errors before and after correction. After compensation, the RMS errors calculated for both the X and Y axes decreased by 96%, indicating the potential of using a simple set of equations to solve common drawbacks that currently make low-cost MEMS sensors unsuitable for tilt-based monitoring applications. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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24 pages, 2328 KiB

Open AccessArticle

Calibration and Noise Identification of a Rolling Shutter Camera and a Low-Cost Inertial Measurement Unit

by Chang-Ryeol Lee, Ju Hong Yoon and Kuk-Jin Yoon

Sensors 2018, 18(7), 2345; https://doi.org/10.3390/s18072345 - 19 Jul 2018

Cited by 7 | Viewed by 4792

Abstract

A low-cost inertial measurement unit (IMU) and a rolling shutter camera form a conventional device configuration for localization of a mobile platform due to their complementary properties and low costs. This paper proposes a new calibration method that jointly estimates calibration and noise [...] Read more.

A low-cost inertial measurement unit (IMU) and a rolling shutter camera form a conventional device configuration for localization of a mobile platform due to their complementary properties and low costs. This paper proposes a new calibration method that jointly estimates calibration and noise parameters of the low-cost IMU and the rolling shutter camera for effective sensor fusion in which accurate sensor calibration is very critical. Based on the graybox system identification, the proposed method estimates unknown noise density so that we can minimize calibration error and its covariance by using the unscented Kalman filter. Then, we refine the estimated calibration parameters with the estimated noise density in batch manner. Experimental results on synthetic and real data demonstrate the accuracy and stability of the proposed method and show that the proposed method provides consistent results even with unknown noise density of the IMU. Furthermore, a real experiment using a commercial smartphone validates the performance of the proposed calibration method in off-the-shelf devices. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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14 pages, 9955 KiB

Open AccessTechnical Note

A Low-Cost Chamber Prototype for Automatic Thermal Analysis of MEMS IMU Sensors in Tilt Measurements Perspective

by Giuseppe Ruzza, Luigi Guerriero, Paola Revellino and Francesco M. Guadagno

Sensors 2019, 19(12), 2705; https://doi.org/10.3390/s19122705 - 16 Jun 2019

Cited by 9 | Viewed by 4454

Abstract

In this work, a low-cost, open-source and replicable system prototype for thermal analysis of low-cost Micro Electro-Mechanical Systems (MEMS) Inertial Measurement Unit (IMU) sensors in tilt measurement perspective is presented and tested. The system is formed of a 3D printed frame, a thermal [...] Read more.

In this work, a low-cost, open-source and replicable system prototype for thermal analysis of low-cost Micro Electro-Mechanical Systems (MEMS) Inertial Measurement Unit (IMU) sensors in tilt measurement perspective is presented and tested. The system is formed of a 3D printed frame, a thermal cell consisting in a Peltier element mounted over a heat sink, and a control and power system. The frame is designed to allow the independent biaxial tilting of the thermal cell through two servomotors. The control board is formed by an Arduino^® and a self-made board including a power drive for controlling the thermal unit and servomotors. We tested the chamber analyzing the behavior of multiple MEMS IMU onboard accelerometers suitable for measuring tilt. Our results underline the variability of the thermal behavior of the sensors, also for different sensor boards of the same model, and consequently the need for the adoption of a thermal compensation strategy based on thermal analysis results. These data suggesting the need for the analysis of the thermal behavior of MEMS-based sensors, indicate the potential of our system in making low-cost sensors suitable in medium-to-high precision monitoring applications. Full article

(This article belongs to the Special Issue Gyroscopes and Accelerometers)

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