2015 DGON Inertial Sensors and Systems Symposium (ISS)最新文献

{"title":"Multi-sensor vehicle testing: Recording inertial sensors via CAN bus in combination with recorded GNSS RF signals","authors":"K. von Hunerbein, P. Argent, T. Schulze","doi":"10.1109/INERTIALSENSORS.2015.7314269","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314269","url":null,"abstract":"Today, vehicles are equipped with multiple sensors for positioning and navigation to provide accurate and reliable information to the driver and to the Advanced Driver Assistance Systems in order to enhance safety of driving. Sensor data are exchanged via the CAN bus. Traditional test systems allow testing of one or two signals or sensors. But today, there is a need to test as many sensors together as possible. Here we would like to present an integrated test solution combining GNSS RF record and replay with a CAN bus interface which enables the system to provide record and playback of a wide range of vehicle CAN bus data using technology provided by the Automotive industry experts DGtech. During drive tests, signals from Galileo, GPS, GLONASS and Beidou can be recorded as RF, at L1, L2 or L5 with a Spirent Record and Replay System. “A highly specialized, portable unit - in this case, the Spirent GSS6425 - is taken on the drive test, faithfully recording the entire RF environment at each stage, including all GNSS signals, any interference, and any other RF signals present at the location. This is replayed on the bench, as many times as engineers require, to verify and improve performance.” [1] CAN bus messages can be recorded as plain text ASCII data by the systems CAN bus interface which is a DG Tech Gryphon S4C data logger capable of being integrated into a wide range of commercial, industrial and military vehicles. The GNSS signal recordings and the CAN bus recordings are stored in a highly synchronized data stream and can be played back synchronously with a delta difference of less than 15ms. Heading truth data is recorded as serial data via a dedicated high performance GPS-Aided Inertial Navigation Sensor and audio/video source provided by up to 3 web cameras. During replay the GNSS signals are directly presented to the UUT. CAN bus messages are replayed via the CAN bus interface. There is a possibility to drive a rate table with the recorded data. All data streams are time synchronized during replay. Thus the same signal environment is recreated during replay in the laboratory. This system combines GNSS, heading, CAN, video and other sensors, e.g. gyroscopes and accelerometers via CAN, to enable thorough and simultaneous testing of multiple functionalities. It reduces the amount of field tests and provides control and repeatability to the test series in the lab.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116920364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A study of non-stochastic IMU errors in strapdown airborne gravimetry","authors":"D. Becker, M. Becker","doi":"10.1109/INERTIALSENSORS.2015.7314272","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314272","url":null,"abstract":"Strapdown airborne gravimetry is the determination of the Earth's gravity acceleration from an aircraft, using a strapdown inertial measurement unit (IMU) in combination with an aiding sensor (typically GNSS). Several publications show, that a modern navigation-grade IMU in combination with two-frequency phase-differential GNSS enables the gravity determination to the level of several micro-g. We hereby present a quantitative analysis of the impact of non-stochastic IMU errors on the gravity determination, based on simulated gravity flights with realistic dynamics. Several error types are discussed, including biases, scale factors, cross-couplings and misalignments of the sensor triads, each for both the accelerometers and gyroscopes. In particular, it is shown that the on-line estimation of in-flight accelerometer bias changes is not possible for this application, due to the inseparability against changes in the gravity signal. For each type of stochastic IMU errors, a threshold value is provided where the average error of the estimated gravity reaches 1 mGal. As an example, these threshold values are compared to actual accelerometer calibration results of an iMAR RQH unit. It is shown for this device, that a proper calibration is required in order to reach gravity estimate accuracies at the 1 mGal level.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128955456","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A closed-loop procedure for the modeling and tuning of Kalman Filter for FOG INS","authors":"Alessandro Benini, R. Senatore, F. D'Angelo, D. Orsini, E. Quatraro, M. Verola, A. Pizzarulli","doi":"10.1109/INERTIALSENSORS.2015.7314263","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314263","url":null,"abstract":"This paper describes an iterative closed-loop procedure for the performance optimization of an Inertial Navigation System (INS) based on Fiber Optic Gyro (FOG) technology for airborne applications. The proposed approach focuses on the tuning of the Indirect Kalman Filter (IKF) covariance matrices using inertial sensor errors budgets gathered by the analysis of Allan Variance in a reliable calibration environment. The proposed method identifies a base metrics for predicting the actual filter performance, selecting a suitable combinations of IKF tuning parameters in order to satisfy the system specifications for a particular application. The engineering optimization process spans from the sensor raw data acquisition up to the performance test on the real target HW platform, carrying out the various intermediate steps of algorithm design, simulation runs, code porting and deployment on the embedded INS, lab and on-field testing for performance verification and final comparison of the acquired data output with simulation results to feed the successive tuning iteration. The matching effectiveness between simulated and real data is presented to highlight the beneficial features of this approach.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131582084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development and evaluation of a navigation grade resonator fiber optic gyroscope","authors":"E. Benser, G. Sanders, M. Smickilas, Jianfeng Wu, L. Strandjord","doi":"10.1109/INERTIALSENSORS.2015.7314259","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314259","url":null,"abstract":"This paper will discuss the development and evaluation of a resonator fiber optic gyroscope (RFOG) for precision navigation applications. This RFOG is based on an optical resonator comprised of hollow core optical fiber, a novel multi-frequency laser source and highly integrated free space and guided wave optical subsystems. Performance evaluation was completed and the results are presented.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"221 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133251224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"On the generation of realistic simulated inertial measurements","authors":"M. E. Parés, J. Navarro, I. Colomina","doi":"10.1109/INERTIALSENSORS.2015.7314268","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314268","url":null,"abstract":"The aim of the research presented in this paper was to develop a software component simulating the output of an Inertial Measurement Unit (IMU) in a wide range of environments. The requirements to fulfil by such a software tool were carefully defined, which led to a system architecture that put especial emphasis on delivering, at the same time, a tool general enough as to cope gracefully with innovation - that is, sensor evolution - as well as being able to be extended at almost no cost. A rigorous data modeling was the key tool to achieve the aforementioned goals; the main data entities involved in the generation of error data (noise) were identified and characterized. Different sources of noise may then be implemented using an Object Oriented approach (general software) and (dynamically loadable) shared libraries (extensibility). The mathematical background used to simulate the different sources of error (noise) data is also presented, as well the different strategies employed to validate the results of the IMU simulator. The tool has been successfully validated for pedestrian, terrestrial and airborne scenarios through stochastic analysis tools.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114400842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dedicated algorithm for line of sight stabilization and orientation","authors":"L. Davain, S. Fabien, T. Erler","doi":"10.1109/INERTIALSENSORS.2015.7314271","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314271","url":null,"abstract":"Gyro Stabilized Platform for Optronic Systems uses inertial system for 3 mains functions: line of sight stabilization, line of sight orientation and target geo-localization. These three capabilities require different characteristics and performances from the inertial sensors: low noise sensors and low noise navigation computation. High grade sensors are not useful for these applications since precision is provided by GNSS. Intermediate grade sensor are sufficient (which benefits to product cost), but induce dedicated algorithm. This paper will illustrates how Sagem addresses these topics using FOG&VBA IMU, and dedicated algorithm in order to compensate residual sensor error. This paper will describe the typical functional architecture of an optronic platform and the main issue of such architecture. In a second part, we will describe Sagem solution for high performance system. Finally, we will show the first evaluation of stabilization, orientation and localization function.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128905200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"On the performance of inertial/GNSS/Doppler Velocity Log integrated navigation systems for marine applications","authors":"M. Romanovas, L. Lança, R. Ziebold","doi":"10.1109/INERTIALSENSORS.2015.7314276","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314276","url":null,"abstract":"Although the GNSS/GPS had become the primary source for Positioning, Navigation and Timing (PNT) information in maritime applications, the ultimate performance of the system can strongly degrade due to space weather events, deliberate interference, shadowing, multipath and overall system failures. Within the presented work the development of an affordable integrated PNT unit for future on-board integrated systems is presented, where the GNSS information is fused both with inertial and Doppler Velocity Log (DVL) measurements. Here redundant and complementary information from different sensors serves to improve the system performance and reduce the position drift when the GNSS signals are not available. The nonlinearity of this advanced fusion problem is addressed by employing different forms of Sigma-Points Kalman Filter (SPKF) and further detailed analysis is presented in terms of the process and measurement models implemented. The results demonstrate that position drift can be significantly reduced by incorporating DVL measurements in IMU/GNSS system and that the proposed integrated navigation algorithm is feasible and efficient for GNSS outages of prolonged duration, where pure inertial GNSS outage bridging would be either inaccurate or would require too expensive IMUs.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123847125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Electromechanical and process design of a 3 axis piezoelectric MEMS gyro in GaAs","authors":"A. Piot, B. Bourgeteau, O. Le Traon, I. Roland, N. Isac, R. Lévy, P. Lavenus, J. Guerard, A. Bosseboeuf","doi":"10.1109/INERTIALSENSORS.2015.7314260","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314260","url":null,"abstract":"This paper deals with the conception and realization of a 3 axis gyrometer in GaAs known as CVG (Coriolis Vibrating Gyro), designed thanks to MEMS (Micro Electro Mechanical Systems) technologies. This original 3 axis gyroscope [1] can measure angular rate along the 3 sensing axes using the Coriolis inertial force effect on a single vibrating structure and is particularly well suited for applications where high miniaturization/integration and low consumption are required as attitude control of micro-UAVs (micro-Unmanned Aerial Vehicles) for instance. The proposed design shows important sensibilities along the 3 orthogonal directions. In automotive, aerospace and aeronautical industries, there is an increasing demand for accurate detection of acceleration and angular rate. Usually, objects are in motion in a three-dimensional space. To determine with precision the motion of an object, it is necessary to detect acceleration and angular rate in each of the three different space directions. A common way for multi-axial detection is to use a set of three different mono-axial sensors aligned with each of the three axial directions. Although miniaturized single axis gyroscopes have now reached high performances, 3 axis gyroscopes based on the combination and alignment of such single gyroscopes usually have lower performances than a fully integrated triaxial device because of alignment accuracy. In addition the alignment procedure is typically expensive. That is why, since several years, there is a rising need for monolithic 3 axis gyroscopes for angular rate detection. In this paper we investigate a 3 axis monolithic GaAs CVG structure that allows a single “driving mode” for the three “sensing modes”. This allows: - a reduction of mechanical coupling between the “driving mode” and the “sensing modes” - an easier fabrication owing to a simplified electrode network. - a less complex ASIC (Application Specific Integrated Circuit) design having a smaller size and a lower power consumption. Various designs of 3 axis gyro have been proposed in the literature but few of them show good and equivalent sensitivities along the three sensing axis. In the first section we will examine two interesting designs of CVG selected among published works which also use a single driving mode and three sensing modes. In the second section we described a design that we proposed previously and that has potentially much higher performances. Then we will investigate how GaAs piezoelectricity can be used to build a complete piezoelectric transduction system for this CVG. In the last section, we will give an overview of the transduction system design and of its fabrication process. Finally we will report results of the development of GaAs Deep Reactive Ion Etching (DRIE) which is major step of this fabrication process.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134240586","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Continuous-time lowpass and bandpass ΔΣ-modulators for closed-loop readout circuits of capacitive MEMS gyroscopes","authors":"S. Rombach, M. Maurer, Y. Manoli","doi":"10.1109/INERTIALSENSORS.2015.7314262","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314262","url":null,"abstract":"This paper presents the design and implementation of electro-mechanical continuous-time bandpass and lowpass ΔΣ-modulators for closed-loop readout of vibratory MEMS gyroscopes. These concepts improve the performance of the readout system in terms of susceptibility to temperature and sensor parameter variations compared to open-loop solutions. Additionally, the linearity and the dynamic range are improved while the power consumption is low. Measurement results are shown of both readout concepts, which demonstrate the competitiveness and the functionality of the readout interfaces.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130558704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Sensor fusion based vibration estimation using inertial sensors for a complex lightweight structure","authors":"P. Kaswekar, Jörg F. Wagner","doi":"10.1109/INERTIALSENSORS.2015.7314265","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314265","url":null,"abstract":"Flexible structures with spatially distributed accelerometers are a central feature of the “experimental modal analysis” serving to characterize the vibration properties of elastic mechanical systems. In contrast to this frequency based offline procedure, real-time tasks like motion control or health monitoring of such structures typically rely little on correspondingly spread inertial sensors. However, to improve approaches for motion control or health monitoring, a sophisticated measurement of the structural movement using distributed accelerometers and additionally gyros offers itself. On the other hand, the aspect of providing a good motion estimate by using only a limited number of sensor signals should also not be disregarded. It is well known that combining different types of sensors in order to take advantage of the complimentary characteristics of each sensing element is the basis of integrated navigation systems. It is called sensor fusion. Such a system can be established in general as a state observer design; and in navigation it determines the spatial motion of just a rigid body. However, extending such integrated systems to flexible structures using distributed structural sensors is possible, which was already proven for one dimensional continuums, i.e. a flexible beam. For more complicated structures, the theory needs to be extended to three dimensions. All such systems can be generalized as an integrated motion measurement. As a typical example, this paper presents an integrated motion measurement approach for the realtime estimation of the critical telescope vibrations of the Stratospheric Observatory for Infrared Astronomy (SOFIA). This application is important as the optical performance of SOFIA is affected by telescope oscillations being induced by aero acoustic disturbances. Distributed inertial sensors are used to obtain motion signals, which are additionally aided by strain gauges. The sensor fusion approach being developed here consists of a continuous-discrete extended Kalman filter. Besides the sensor signals to be fused, the filter requires a suitable kinematical model, which in turn determines the mechanical meaning of all measurements. The kinematic model is based on a reduced modal approach, i.e. a description of the telescope by vibration modes having high contribution to the optical quality at the focal plane of the astronomical instruments. To realize such an integrated measurement system, there are no mass and stiffness properties of the structure required. However, the approximate knowledge of the modal properties of the structure is necessary for the implementation of this method. Therefore, a finite element model of the telescope was chosen as a basis to extract such modal properties. In addition, the finite element model was employed to determine the appropriate number, position and orientation of the gyros, accelerometers and strain gages. Simulation results demonstrate the potential of the approach and its ","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128694542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}