A Multivariable Motion Sensor Embedding an Improved Velocity Estimation Algorithm

IF 4.3 2区综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Sensors Journal Pub Date : 2025-03-05 DOI:10.1109/JSEN.2025.3546331

Federico Mazzoli;Davide Alghisi;Vittorio Ferrari

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Abstract

A multivariable motion sensor is presented that embeds into its onboard microcontroller a tailored algorithm, referred to here as the double-path (DP) algorithm, which estimates velocity in real time from position and acceleration signals simultaneously measured by the sensor itself. The multivariable motion sensor consists of a contactless magnetic linear position digital sensor and a triaxial digital accelerometer. The proposed algorithm estimates velocity by suitably mixing the integration of the acceleration and the linear fitting of the position, and it can operate under both trapezoidal and S-curve motion profiles. The velocity estimation accuracy has been assessed through simulations and experimental tests, which involved performance evaluation and a comparative analysis between the proposed algorithm and a Kalman filter (KF) both embedded into the sensor microcontroller. The experimental results are obtained by operating the sensor with a reference trapezoidal motion profile with a maximum velocity of 50 mm/s. The two root-mean-square estimation errors calculated for the sensor moving at constant acceleration and velocity are 1.32% and 0.58% of the maximum velocity, respectively.

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嵌入改进速度估计算法的多变量运动传感器

本文介绍的多变量运动传感器在其板载微控制器中嵌入了一种定制算法，在此称为双路径（DP）算法，该算法可根据传感器本身同时测量的位置和加速度信号实时估算速度。多变量运动传感器由一个非接触式磁性线性位置数字传感器和一个三轴数字加速度计组成。所提出的算法通过适当混合加速度的积分和位置的线性拟合来估算速度，并可在梯形和 S 形曲线运动曲线下运行。通过模拟和实验测试评估了速度估算的准确性，其中包括性能评估和拟议算法与嵌入传感器微控制器的卡尔曼滤波器（KF）之间的比较分析。实验结果是在最大速度为 50 毫米/秒的参考梯形运动曲线下操作传感器得出的。对于以恒定加速度和速度运动的传感器，计算出的两个均方根估计误差分别为最大速度的 1.32% 和 0.58%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Sensors Journal 工程技术-工程：电子与电气

CiteScore

7.70

自引率

14.00%

发文量

2058

审稿时长

5.2 months

期刊介绍： The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice