MEMS wheel sensor for vehicle navigation ESC and

Wheel IMU concept • Low-cost MEMS unit • Novel “carousing processing method” for long-term

What is a wheel IMU • Inertial MEMS gyros and accelerometers on the wheel

Real-time prototype • Bluetooth: Stollmann Blue. Mod+SR • Processor: Atmel SAM 4 S 16

Markets for wheel IMU • autonomous vehicular navigation: accurate and yet low-cost addition to

Early prototype tests: no ZUPTs, GPS as reference Wheel IMU • conditions: driving up

Early prototype tests: no ZUPTs, GPS as reference • Green - DGPS • Blue

Motorcycle traction control? Yes! • Bosch Engineering is actively developing a traction control systems

Radius and center of curvature estimation 10

Why is it better than other systems/methods? • Classical INS/GNSS with vehicle dynamic models:

Contacts • We look for partners, customers, investors and anyone who wants to know

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Wheel IMU concept • Low-cost MEMS unit • Novel “carousing processing method” for long-term accurate 2 D navigation in GNSS harsh environments • “horseshoe” design - balanced and easy to install on a bike/motorbike axle via an additional mounting fixture; • size and volume can be dramatically decreased for specific client applications 2

What is a wheel IMU • Inertial MEMS gyros and accelerometers on the wheel • Battery powered (energy harvesting) • Bluetooth (or similar) data transfer to onboard computer • Rotation of the wheel - free source of constant “calibration” • “Calibration” is a novel carousing algorithm that outputs unbiased heading and roll wheel angles and centripetal accelerations of each wheel where it is installed 3

Real-time prototype 4

Real-time prototype • Bluetooth: Stollmann Blue. Mod+SR • Processor: Atmel SAM 4 S 16 B • Embedded software: C/C++ (Rowley Cross. Works) • In-vehicle computer (Android tablet): Java (Android Studio) • Wheel IMU - onboard tablet communication: BT 4. 0 • Wheel IMU raw data is recorded on miсro. SD card. 5

Markets for wheel IMU • autonomous vehicular navigation: accurate and yet low-cost addition to INS/GPS/Li. DAR/Radar systems • container handling machines operated in harsh GNSS environments; mining and warehouse (storage) machines for improved logistics • raw data from wheel: vehicle ESC; monitoring of expensive tires wear, adaptive suspension 6

Early prototype tests: no ZUPTs, GPS as reference Wheel IMU • conditions: driving up to 30 km/hour, 30 minutes. Final 2 D error: less than 100 meters 7

Early prototype tests: no ZUPTs, GPS as reference • Green - DGPS • Blue - wheel IMU • Red - gyro + odometer • 13 minutes run; speed up to 40 km/h • final error: <40 meters 8

Motorcycle traction control? Yes! • Bosch Engineering is actively developing a traction control systems for motorbikes • unbiased wheel heading and roll angles, coupled with centripetal accelerations - essential information for reliable traction control picture above is from Youtube video “ 2013 Bosch Motorcycle Traction Control 'Acceleration out of a corner' promotional video” http: //www. youtube. com/watch? v=ZQi. Lgfa. BSPM 9

Radius and center of curvature estimation 10

Why is it better than other systems/methods? • Classical INS/GNSS with vehicle dynamic models: either too expensive for many markets or small accuracy when GNSS is not available • Odometer + vertical gyro: limited accuracy of differential odometers; odometers not always available; quickly growing errors from gyro bias • We propose something new - no one ever explored and came up with a method of significantly improving MEMS sensor performance installing them right on vehicle wheels • New markets and new technology will develop! 11

Contacts • We look for partners, customers, investors and anyone who wants to know and explore more of this new, emerging technology! • Oleg Mezentsev oleg. mezentsev@gmail. com +1. 403. 519. 4668 • Jussi Collin cto@inertial. fi +358. 40. 717. 7573 • www. isense-sk. ru 12