High Performance Miniature Inertial Measurement Systems Micro Strain

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High Performance Miniature Inertial Measurement Systems Micro. Strain Inc Mike Robinson www. microstrain. com;

High Performance Miniature Inertial Measurement Systems Micro. Strain Inc Mike Robinson www. microstrain. com; mirobinson@microstrain. com June 2011 © Copyright 2011 Micro. Strain Inc.

Inertial Sensors • • Accelerometer Inclinometer Gyroscope Magnetometer Inertial Measurement Unit (IMU) Vertical Gyro

Inertial Sensors • • Accelerometer Inclinometer Gyroscope Magnetometer Inertial Measurement Unit (IMU) Vertical Gyro (VG) Attitude, heading reference sensor (AHRS) © Copyright 2011 Micro. Strain Inc.

Inertial Measurement Unit (IMU) • 6 degrees of freedom (DOF) • Combines 3 accelerometers

Inertial Measurement Unit (IMU) • 6 degrees of freedom (DOF) • Combines 3 accelerometers and 3 gyroscopes • Outputs 3 linear accelerations and 3 angular rates • Used for positioning © Copyright 2011 Micro. Strain Inc.

Vertical Gyro (VG) • Outputs gyro stabilized pitch and roll for dynamic applications •

Vertical Gyro (VG) • Outputs gyro stabilized pitch and roll for dynamic applications • Combines 2 accelerometers and two gyros • Used for dynamic leveling/platform stabilization © Copyright 2011 Micro. Strain Inc.

Attitude, Heading Reference Sensor (AHRS) • Combines 3 accelerometers, 3 gyros and 3 magnetometers

Attitude, Heading Reference Sensor (AHRS) • Combines 3 accelerometers, 3 gyros and 3 magnetometers • Outputs pitch, roll and yaw, Quaternion, orientation matrix • Used for navigation © Copyright 2011 Micro. Strain Inc.

Robotic Calibration © Copyright 2011 Micro. Strain Inc.

Robotic Calibration © Copyright 2011 Micro. Strain Inc.

Temperature Calibration © Copyright 2011 Micro. Strain Inc.

Temperature Calibration © Copyright 2011 Micro. Strain Inc.

Before Correction After Correction W © Copyright 2011 Micro. Strain Inc.

Before Correction After Correction W © Copyright 2011 Micro. Strain Inc.

Before Correction After Correction © Copyright 2011 Micro. Strain Inc.

Before Correction After Correction © Copyright 2011 Micro. Strain Inc.

Before Correction After Correction Magnetometer bias is inherently temperature compensated in hardware © Copyright

Before Correction After Correction Magnetometer bias is inherently temperature compensated in hardware © Copyright 2011 Micro. Strain Inc.

Micro. Strain’s Inertial Products • • • 3 DM ®, 3 DM-DH™ 3 D-DH

Micro. Strain’s Inertial Products • • • 3 DM ®, 3 DM-DH™ 3 D-DH 3™ 3 DM-GX 3™-25 -OEM 3 DM-GX 3™-35 © Copyright 2011 Micro. Strain Inc.

3 DM ® • Inclinometer/compass for static/quasi static applications • Pitch, roll, yaw •

3 DM ® • Inclinometer/compass for static/quasi static applications • Pitch, roll, yaw • Outputs Euler angles • Range: ± 90° pitch, ± 180° roll and yaw • Sample rate 30 to 70 Hz (depending on output mode) • Resolution 0. 1° • Accuracy: ± 0. 9° pitch, ± 0. 9° roll, ± 1. 0° yaw • RS 232 or RS 485 output © Copyright 2011 Micro. Strain Inc.

3 DM-DH™ • Same as 3 DM but designed for downhole applications © Copyright

3 DM-DH™ • Same as 3 DM but designed for downhole applications © Copyright 2011 Micro. Strain Inc.

3 DM-DH 3™ • Integrated into downhole tools • Outputs acceleration and magnetic field

3 DM-DH 3™ • Integrated into downhole tools • Outputs acceleration and magnetic field vectors plus temperature; orientation angles plus temperature • 24 bit A/D for accelerometers. 16 bit A/D for magnetometers • Range 360° in three axes • Accuracy: 0. 2° inclination, 0. 5° Azimuth • Resolution 0. 02° • Stand alone datalogger or tethered for real-time data • Stores up to 32, 768 data records • Temp range -40°C to 125°C • RS 422 © Copyright 2011 Micro. Strain Inc.

3 DM-GX 3™ -25 • AHRS for dynamic applications • Smallest, lightest AHRS on

3 DM-GX 3™ -25 • AHRS for dynamic applications • Smallest, lightest AHRS on the market today • Vertical gyro and IMU modes • Outputs Euler angles, acceleration/angular rate, delta. Angle/delta. Velocity • Sensors oversampled at 30 k. Hz, filtering, coning and sculling 1 k. Hz • Output rate up to 1000 Hz • Range 360° in three axes • Resolution 0. 1° • Accuracy ± 0. 5 to 2° • USB 2. 0, RS 232 and RS 422 © Copyright 2011 Micro. Strain Inc.

3 DM-GX 3™ -25 -OEM • AHRS for dynamic applications • Smallest, lightest AHRS

3 DM-GX 3™ -25 -OEM • AHRS for dynamic applications • Smallest, lightest AHRS on the market today • Vertical gyro and IMU modes • Outputs Euler angles, acceleration/angular rate, delta. Angle/delta. Velocity • Sensors oversampled at 30 k. Hz, filtering, coning and sculling 1 k. Hz • Output rate up to 1000 Hz • Range 360° in three axes • Resolution 0. 1° • Accuracy ± 0. 5 to 2° • TTL Serial © Copyright 2011 Micro. Strain Inc.

3 DM-GX 3™ -35 • Integrated AHRS and GPS for dynamic applications • Smallest,

3 DM-GX 3™ -35 • Integrated AHRS and GPS for dynamic applications • Smallest, lightest system on the market today • Outputs time correlated GPS and inertial data with common time stamp • Inertial data output rate up to 1000 Hz, GPS data output rate up to 5 Hz • Uses 3 DM-GX 3 -25 inertial sensor core • MIP protocol enables user to chose data quantities and sample rates • USB 2. 0 or RS 232 © Copyright 2011 Micro. Strain Inc.

Key Features and Benefits • Includes AHRS and GPS in small, lightweight package •

Key Features and Benefits • Includes AHRS and GPS in small, lightweight package • Time correlated data with common timestamp • High data rates for inertial data – up to 1 k. Hz • Powerful New API • Low cost © Copyright 2011 Micro. Strain Inc.

Key Features and Benefits Ideal for size and weight constrained applications © Copyright 2011

Key Features and Benefits Ideal for size and weight constrained applications © Copyright 2011 Micro. Strain Inc.

Time Correlated Data © Copyright 2011 Micro. Strain Inc.

Time Correlated Data © Copyright 2011 Micro. Strain Inc.

Multi-Sensor Time Correlation using GPS UTC time © Copyright 2011 Micro. Strain Inc.

Multi-Sensor Time Correlation using GPS UTC time © Copyright 2011 Micro. Strain Inc.

New Application Programming Interface MIP • • Accommodates data from multiple subsystems Will be

New Application Programming Interface MIP • • Accommodates data from multiple subsystems Will be used in future products Packet protocol—Improved data integrity Real benefit: User gets what they want © Copyright 2011 Micro. Strain Inc.

MIP Features MIP Single Byte Commands © Copyright 2011 Micro. Strain Inc.

MIP Features MIP Single Byte Commands © Copyright 2011 Micro. Strain Inc.

Target Customers for 3 DM-GX 335 • Need attitude & location in smallpackage •

Target Customers for 3 DM-GX 335 • Need attitude & location in smallpackage • Include other inputs in custom Kalman filter • Needs to “own” the Kalman filter © Copyright 2011 Micro. Strain Inc.

Applications • • • Platform stabilization Navigation of unmanned vehicles Biomedical research Sports training

Applications • • • Platform stabilization Navigation of unmanned vehicles Biomedical research Sports training and enhancement Mapping – agricultural, fleet management, motor racing Vehicle dynamics studies Antenna pointing Oceanography – wave height Inertial tracking GPS aiding Robotic control Manufacturing – calibration of high tech devices (smartphones, etc) product dynamics © Copyright 2011 Micro. Strain Inc.

Applications – Drones to phones IMI decoy drone Smartphones © Copyright 2011 Micro. Strain

Applications – Drones to phones IMI decoy drone Smartphones © Copyright 2011 Micro. Strain Inc.

n. Bot Balancing Robot Providing data for the balance algorithm to maintain robot’s balance

n. Bot Balancing Robot Providing data for the balance algorithm to maintain robot’s balance Courtesy of David P. Anderson © Copyright 2011 Micro. Strain Inc.

Autonomous Lawn Mower Attitude and heading for mapping algorithm Courtesy of Ohio University ©

Autonomous Lawn Mower Attitude and heading for mapping algorithm Courtesy of Ohio University © Copyright 2011 Micro. Strain Inc.

Head Tracking – flight simulator 3 DM-GX 1 provides head tracking when optical sensor

Head Tracking – flight simulator 3 DM-GX 1 provides head tracking when optical sensor is out of range Courtesy of Ascension Technology © Copyright 2011 Micro. Strain Inc.

Quantification of Knee Kinematics © Copyright 2011 Micro. Strain Inc.

Quantification of Knee Kinematics © Copyright 2011 Micro. Strain Inc.

Quantification of Knee Kinematics © Copyright 2011 Micro. Strain Inc.

Quantification of Knee Kinematics © Copyright 2011 Micro. Strain Inc.

"Sixth Ring" Donor to 2008 US Olympic BMX Cycle Team © Copyright 2011 Micro.

"Sixth Ring" Donor to 2008 US Olympic BMX Cycle Team © Copyright 2011 Micro. Strain Inc.

Robotic Control © Copyright 2011 Micro. Strain Inc.

Robotic Control © Copyright 2011 Micro. Strain Inc.

Stabilization and Navigation of UAVs © Copyright 2011 Micro. Strain Inc.

Stabilization and Navigation of UAVs © Copyright 2011 Micro. Strain Inc.

Navigation of Unmanned Vehicles © Copyright 2011 Micro. Strain Inc.

Navigation of Unmanned Vehicles © Copyright 2011 Micro. Strain Inc.

Navigation and Attitude and of Unmanned Vehicles Courtesy of Department of Biology, Program in

Navigation and Attitude and of Unmanned Vehicles Courtesy of Department of Biology, Program in Cognitive Science, and the Interdisciplinary Robotics Research Laboratory, Vassar College, Poughkeepsie, NY 12604, USA © Copyright 2011 Micro. Strain Inc.

Inertial Tracking of Vehicles – GPS Aiding Courtesy of School of Surveying and Spatial

Inertial Tracking of Vehicles – GPS Aiding Courtesy of School of Surveying and Spatial Information Systems, Australia © Copyright 2011 Micro. Strain Inc.

NASA Tracks Ares Rocket Trajectory During Re-Entry © Copyright 2011 Micro. Strain Inc.

NASA Tracks Ares Rocket Trajectory During Re-Entry © Copyright 2011 Micro. Strain Inc.

Thank you Any Questions? © Copyright 2011 Micro. Strain Inc.

Thank you Any Questions? © Copyright 2011 Micro. Strain Inc.