2015 DGON Inertial Sensors and Systems Symposium (ISS)最新文献_第2页

A laser and image based navigation and guidance system for autonomous outdoor-indoor transition flights of MAVs 一种基于激光和图像的机动飞行器自主室内外过渡飞行导航和制导系统

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314267

M. Popp, G. Scholz, S. Prophet, G. Trommer

{"title":"A laser and image based navigation and guidance system for autonomous outdoor-indoor transition flights of MAVs","authors":"M. Popp, G. Scholz, S. Prophet, G. Trommer","doi":"10.1109/INERTIALSENSORS.2015.7314267","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314267","url":null,"abstract":"Micro Aerial Vehicles (MAV) with hovering capabilities are predestined to explore hazardous areas in order to support emergency and rescue forces. Possible areas of application are urban terrain close to buildings or indoor environment. Especially the autonomous access to buildings is highly demanding due to insufficient GNSS reception in urban terrain and narrow passageways into buildings. Nevertheless, in order to allow exploration of buildings, this paper presents a complete flight system that enables a MAV to transit a passageway into a building to explore this building autonomously. For that, neither any prior knowledge about the building's structure, nor any maps are necessary. Thus the navigation filter uses relative motion estimation in order to substitute GNSS information. In order to further increase the independency from position measurements, the flight guidance is designed in way to maneuver the MAV relative to the entrance, using laser rangefinder and image measurements. The successful operation of the presented system is validated in several real flight experiments.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"521 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":"121589037","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}

引用次数: 9

Development of mapping position and orientation systems with commercial grade MEMS 商用级微机电系统测绘定位系统的开发

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314266

V. Varavva, J. Hutton, A. Lambert

引用次数: 1

A new versatile hardware platform for closed-loop gyro evaluation 一种新的多用途闭环陀螺评估硬件平台

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314261

A. Omar, A. Elshennawy, A. Ismail, M. Nagib, M. Elmala, A. Elsayed

引用次数: 4

Development of a modular inertial sensor package and its application for improvement of handheld grenade launcher 模块化惯性传感器组件的研制及其在手持榴弹发射器改进中的应用

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314270

A. Newzella, F. Gathmann, J. Schoder, M. Weidacher

引用次数: 0

Using the principle of measurement reproduction in federated filters for navigation data processing 利用联邦滤波器测量再现原理对导航数据进行处理

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314264

Y. Litvinenko, V. Tupysev

引用次数: 0

Quartz pendulous accelerometers for navigation and tactical grade systems 石英摆式加速度计，用于导航和战术等级系统

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314256

J. Beitia, A. Clifford, C. Fell, P. Loisel

{"title":"Quartz pendulous accelerometers for navigation and tactical grade systems","authors":"J. Beitia, A. Clifford, C. Fell, P. Loisel","doi":"10.1109/INERTIALSENSORS.2015.7314256","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314256","url":null,"abstract":"Accelerometers which are integrated into navigation, guidance or piloting systems are required to meet very demanding performance requirements in terms of accuracy, stability and linearity. Typically these requirements must be achieved under stringent conditions, at sea, on land, in air, and over the full life cycle of the system. Therefore not surprisingly, only two technologies so far have risen to the challenge and have demonstrated the right capabilities: Vibrating Beam Accelerometer technology and Quartz Pendulous Accelerometer technology. Since their roll out in the '90s, Quartz Pendulous Accelerometers rapidly became the most widely used accelerometers for high grade navigation applications and this position remains largely unchallenged to this time. InnaLabs® Ltd. is a privately held limited company which was incorporated in Ireland in 2011. The Company has recently completed the development of a range of specialist precision Quartz Pendulous Accelerometers which are today used in a variety of navigation and tactical applications. After a brief description of the basic physical principles and an overview of the key manufacturing processes developed by Innalabs, such as the quartz wet etching, this paper provides statistical results recorded on the AI-Q-2010, AI-Q-1410 and AI-Q-710 accelerometer variants. These three part numbers are currently in full series production in Dublin. Some key performance parameters are presented, such as the bias and scale factor stability over temperature and over time, the short-term bias stability (measured using the Allan variance method), the output noise, and the sensitivity to shock and vibration. The results presented here demonstrate the capabilities of the InnaLabs® Quartz Pendulous Accelerometer range. These products provide a European source of high grade accelerometers for applications requiring navigation and tactical grade performance.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"112 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":"123592059","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}

引用次数: 13

Sensor fusion and transfer alignment concept for pointing stabilization 指向稳定的传感器融合和传递对准概念

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314275

F. D'Angelo, A. Pizzarulli, R. Senatore, G. Biancucci, M. Catasta, M. Verola

{"title":"Sensor fusion and transfer alignment concept for pointing stabilization","authors":"F. D'Angelo, A. Pizzarulli, R. Senatore, G. Biancucci, M. Catasta, M. Verola","doi":"10.1109/INERTIALSENSORS.2015.7314275","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314275","url":null,"abstract":"Sensors for pointing stabilization (i.e. for radars, cameras, binoculars, etc) need high accuracy azimuth and attitude references in order to accurately designate the target in operation. Generally speaking high accuracy means bulky and heavy systems, implemented as solid state gyrocompass and Inertial Navigation Systems (INS), that could not be use in so-called man-portable applications or in sensors and actuators that requires small and lightweight reference systems. The proposed device is a small and lightweight AHRS (Attitude Heading Reference Systems) based on compact MEMS (Micro Electrical Mechanical System) sensors coupled with a high performance Fiber Optic Gyroscope (FOG) gyrocompass. Sensors key parameters are fused together in order to have a transfer alignment from the high performance and bulky system (Master) to the lightweight and small device (Slave). Performance of the transfer alignment process is presented in applications like pointing for man-portable applications. The same concept can be extended to other sensors stabilization applications like Phased Array Radar beam forming stabilization.","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":"125879462","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}

引用次数: 1

Control and damping imperfection compensation for a rate integrating MEMS gyroscope 速率积分MEMS陀螺仪的控制和阻尼缺陷补偿

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314258

Zhongxu Hu, B. Gallacher

{"title":"Control and damping imperfection compensation for a rate integrating MEMS gyroscope","authors":"Zhongxu Hu, B. Gallacher","doi":"10.1109/INERTIALSENSORS.2015.7314258","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314258","url":null,"abstract":"This paper presents a DSP based control implementation for a ring type MEMS vibratory gyroscope operating in rate integrating mode, under which, drift rate of the precession angle is reduced to less than 2.5 degrees/second. An automatic electrostatic frequency tuning process is developed to minimize frequency split to a few mille Hertz, which helps the PLL to accurately lock the orbit phase at -90 degrees with phase error less than 0.1 degrees. While a velocity feedback based vibration sustaining control stabilizes the major axis against the average damping, a displacement feedback control for quadrature nulling effectively suppresses the Quad amplitude to less than one thousandth of the major axis, so that the trajectory of vibration remains almost a straight line. Damping imperfections, the amount and distribution along the precession angle are visualized and approximately estimated using the modulation pattern of the control gain of the vibration sustaining loop. These values are then placed in the velocity feedback compensation control to reduce angle drift. Experimental results validate its effectiveness.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"437 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":"132862668","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}

引用次数: 17

A new high performance sigma-delta MEMS accelerometer for inertial navigation 一种用于惯性导航的新型高性能σ - δ MEMS加速度计

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314257

P. Ullah, V. Ragot, P. Zwahlen, F. Rudolf

{"title":"A new high performance sigma-delta MEMS accelerometer for inertial navigation","authors":"P. Ullah, V. Ragot, P. Zwahlen, F. Rudolf","doi":"10.1109/INERTIALSENSORS.2015.7314257","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2015.7314257","url":null,"abstract":"MEMS accelerometers have proven high reliability, cost-effectiveness and versatility in recent years for consumer grade applications. Sagem and Colibrys have long been involved in MEMS accelerometers, with the ACSIL sensor that has been around for over 20 years on APIRS Attitude and Heading Reference Systems and more recently the MS90xx product family. MEMS sensors have been expected to reach inertial navigation grade performance for some years, however very few indeed have been up to the task. In this paper, we present the latest capacitive spring mass sigma-delta closed-loop accelerometer design by Sagem and Colibrys. We will present the key concepts for high performance, system architecture and the experimental results obtained on our prototypes. Compared to previous publications, performance has been significantly improved thanks to improvements in MEMS design, packaging and electronic control. The resulting design features compact size despite full digital electronic integration, excellent robustness to shocks and vibrations, and unmatched performance for a MEMS accelerometer. Great emphasis was placed on having an autonomous sensor, requiring only power supplies and a digital communication interface. High performance is thus achieved independently of external high precision components such as voltage references or A/D converter.","PeriodicalId":437174,"journal":{"name":"2015 DGON Inertial Sensors and Systems Symposium (ISS)","volume":"83 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":"134574348","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}

引用次数: 24

Tuning fork MEMS gyroscope for precision northfinding 用于精密寻北的音叉MEMS陀螺仪

2015 DGON Inertial Sensors and Systems Symposium (ISS) Pub Date : 2015-11-02 DOI: 10.1109/INERTIALSENSORS.2015.7314273

B. Johnson, K. Christ, D. Endean, B. Mohr, R. Supino, H. French, E. Cabuz

引用次数: 20