• Title/Summary/Keyword: Inertial sensor

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Fault Detection and Isolation Performance Analysis of Modified SPRT with respect to Inertial Sensor Errors

  • Kim, Jeong-Yong;Yang, Cheol-Kwan;Shim, Duk-Sun
    • 제어로봇시스템학회:학술대회논문집
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    • pp.32.3-32
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    • 2002
  • We analyze the effect of main inertial sensor errors such as, misalignment, scale factor error and bias on the performance of modified sequential probability ratio test (SPRT) for sequential fault detection and isolation (FDI). The inertial sensor errors cause the modified SPRT method to give false alarm. We use a two-stage KF to obtain a modified parity vector with which the inertial sensor errors can be removed and thus modified SPRT method can be used regardless of inertial sensor errors.

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A Study In Movement of Wheeled Mobile Robot Via Sensor Fusion (센서융합에 의한 이동로봇의 주행성 연구)

  • Shin, Hui-Seok;Hong, Suk-Kyo;Chwa, Dong-Kyoung
    • Proceedings of the KIEE Conference
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    • pp.584-586
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    • 2005
  • In this paper, low cost inertial sensor and compass were used instead of encoder for localization of mobile robot. Movements by encoder, movements by inertial sensor and movements by complementary filter with inertial sensor and compass were analyzed. Movement by complementary filter was worse than by only inertial sensor because of imperfection of compass. For the complementary filter to show best movements, compass need to be compensated for position error.

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Implementation and Design of Inertial Sensor using the estimation of error coefficient method for sensing rotation

  • Lee, Cheol
    • International Journal of Internet, Broadcasting and Communication
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    • v.12 no.3
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    • pp.95-101
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    • 2020
  • We studied the Implementation and design of inertial sensor that enables to improve performance by reduce the noise of rotor which Angle of inclination. Analyze model equation including motion equation and error, signal processing filter algorithm on high frequency bandwidth with eliminates error using estimation of error coefficient method is was designed and the prototype inertial sensor showed the pick off noise up to 0.2 mV and bias error performance of about 0.06 deg/hr by the experiments. Accordingly, we confirmed that the design of inertial sensor was valid for high rotation.

Sequential Fault Detection and Isolation for Redundant Inertial Sensor Systems with Uncertain Factors

  • Kim, Jeong-Yong;Yang, Cheol-Kwan;Shim, Duk-Sun
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2594-2599
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    • 2003
  • We consider some problems of the Modified SPRT(Sequential Probability Ratio Test) method for fault detection and isolation of inertial redundant sensor systems and propose an Advanced SPRT method to solve the problems of the Modified SPRT method. One problem of the Modified SPRT method to apply to inertial sensor system comes from the effect of inertial sensor errors such as misalignment, scale factor error and sensor bias in the parity vector, which make the Modified SPRT method hard to be applicable. The other problem is due to the correlation of parity vector components which may induce false alarm. We use a two-stage Kalman filter to remove effects of the inertial sensor errors and propose the modified parity vector and the controlled parity vector which removes the effect of correlation of parity vector components. The Advanced SPRT method is derived form the modified parity vector and the controlled parity vector. Some simulation results are presented to show the usefulness of the Advanced SPRT method to redundant inertial sensor systems.

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Development and Evaluation Archery Posture Analysis System using Inertial Sensor (관성센서를 이용한 양궁자세 분석 시스템 구축 및 평가)

  • Cho, WooHyeong;Quan, Cheng-Hao;Kwon, Jang-Woo;Lee, Sangmin
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.65 no.10
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    • pp.1746-1754
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    • 2016
  • In this paper, we provide a development and evaluation method for an archery posture analyzing system, using an inertial sensor. The system was developed using LabVIEW2014 by National Instruments and evaluated using the DTW algorithm. To convert the voltage value of the inertial sensor into a physical value, a coordinate transformation matrix bias was applied. To evaluate the similarity of movement in archery shooting, the DTW distance was calculated and similarity was confirmed based on simple mechanical movement, the same person's shooting movement, shooting movement with another person, and the noise signal. The average similarity comparison results were as follows: simple mechanical movement was 17.05%, the same person's shooting movement was 26.48%, shooting movement with another person was 62.8%, and the noise signal was 328.5%; a smaller value indicates a higher level of similarity. We confirmed the possibility of analyzing the archery posture using 3-axis acceleration of the inertial sensor. We inferred that the proposed method might be important means for assessing shooting skills, evaluation of archer's progress, and finding talented archers in advance.

A Study on Attitude Heading Reference System Based Micro Machined Electro Mechanical System for Small Military Unmanned Underwater Vehicle

  • Hwang, A-Rom;Yoon, Seon-Il
    • Journal of Advanced Marine Engineering and Technology
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    • v.39 no.5
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    • pp.522-526
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    • 2015
  • Generally, underwater unmanned vehicle have adopted an inertial navigation system (INS), dead reckoning (DR), acoustic navigation and geophysical navigation techniques as the navigation method because GPS does not work in deep underwater environment. Even if the tactical inertial sensor can provide very detail measurement during long operation time, it is not suitable to use the tactical inertial sensor for small size and low cost UUV because the tactical inertial sensor is expensive and large. One alternative to INS is attitude heading reference system (AHRS) with the micro-machined electro mechanical system (MEMS) inertial sensor because of MEMS inertial sensor's small size and low power requirement. A cost effective and small size attitude heading reference system (AHRS) which incorporates measurements from 3-axis micro-machined electro mechanical system (MEMS) gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for UUV. The AHRS based MEMS overcome many problems that have inhibited the adoption of inertial system for small UUV such as cost, size and power consumption. Several evaluation experiments were carried out for the validation of the developed AHRS's function and these experiments results are presented. Experiments results prove the fact that the developed MEMS AHRS satisfied the required specification.

HILS Technique based on Inertial Sensor Modeling for High Maneuvering Missiles (고기동 유도탄 모의비행시험 기법 밀 관성센서 모델링)

  • Kim, Ki-Seung;Yu, Myeong-Jong;Ra, Won-Sang;Lee, Sang-Woo;Kim, Young-Ju
    • Proceedings of the KIEE Conference
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    • pp.2540-2542
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    • 2005
  • This paper proposed the new HILS technique called Injection Method for Inertial Sensor Verification of high maneuvering missiles. The performance of Inertial Sensor is verified by Injection Method and traditional FMS Method. After all, Injection Method for Inertial Sensor has capability for various scenario and critical condition test.

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Fault Detection and Isolation for Inertial Sensor Using Single Antenna GPS Receiver (단일 안테나 GPS 수신기를 이용한 관성센서의 고장검출 및 분리)

  • 김영진;김유단
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.11
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    • pp.1037-1043
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    • 2004
  • In this paper, a new fault detection and isolation algorithm fur inertial sensor system is proposed. To identify the inertial sensor fault, single antenna GPS receiver is used as an effective redundancy source. To use GPS receiver as redundancy for the inertial sensors, the algorithm to estimate the attitude and acceleration using single antenna GPS receiver is adopted. By using Doppler shift of carrier phase signal and kinetic characteristics of aircraft, attitude information of aircraft can be obtained at the coordinated flight condition. Based on this idea, fault diagnosis algorithm for inertial sensors using single antenna GPS based attitude is proposed. For more effective FDI, decision variables considering the aircraft maneuver are proposed. The effectiveness of the proposed algorithm is verified through the numerical simulations.

Evaluation and Selection of MEMS-Based Inertial Sensor to Implement Inertial Measurement Unit for a Small-Sized Vessel (소형 선박용 관성측정장치 개발을 위한 MEMS 기반 관성 센서의 평가와 선정)

  • Yim, Jeong-Bin
    • Journal of Navigation and Port Research
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    • v.35 no.10
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    • pp.785-791
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    • 2011
  • This paper describes the evaluation and selection of MEMS(Micro-Elect Mechanical System) based inertial sensor to fit to implement the Inertial Measurement Unit(IMU) for a small-sized vessel at sea. At first, the error model and the noise model of the inertial sensors are defined with Euler's equations and then, the inertial sensor evaluation is carried out with Allan Variance techniques and Monte Carlo simulation. As evaluation results for the five sensors, ADIS16405, SAR10Z, SAR100Grade100, LIS344ALH and ADXL103, the combination of gyroscope and accelerometer of ADIS16405 is shown minimum error having around 160 m/s standard deviation of velocity error and around 35 km standard deviation of position error after 600 seconds. Thus, we select the ADIS16405 inertial sensor as a MEMS-based inertial sensor to implement IMU and, the error reducing method is also considered with the search for reference papers.