Embedded inertial sensor for tracking projectile impact on granular media

Stefan Köstler,Jinchen Zhao,Kai Huang,Simeon Völkel,Chen Lyu,M.A Aguirre,S Luding,R Soto,L.A Pugnaloni

doi:10.1051/epjconf/202124915007

Stefan Köstler, Jinchen Zhao + Show 7 more

Open Access

https://doi.org/10.1051/epjconf/202124915007

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Abstract

Due to the opacity of most granular materials, it is often desirable to have three dimensional (3D) particle tracking techniques beyond optical imaging to explore granular dynamics. Using inertial measurement units (IMU) embedded in a projectile, we obtain the trajectory of projectile impacting on a granular medium under microgravity using tri-axial acceleration and angular velocity data. In addition to the standard algorithm for reconstruction, we emphasize solutions to various sources of error to determine projectile trajectory accurately.

Highlights

Due to the opacity of most granular materials, it is often desirable to have three dimensional (3D) particle tracking techniques beyond optical imaging to explore granular dynamics
For the case of projectile impacting on a granular medium with fast dynamics, we developed a continuous wave radar tracking system to detect projectile motion with high temporal resolution [6,7,8]
The cross-checking with other particle tracking approaches is necessary because integration process leads to error accumulation

Summary

Introduction to monitor the trajectory of a projectile penetrating into

Along with the development of MEMS (microelectromechanical system) technology, inertial sensors capable of monitoring tri-axial acceleration and angular velocities nowadays become more compact, cost effective and readily available to us They are used, for example, in smartphones, virtual reality (VR) devices, interactive game controllers, robotics, animation movie production, autonomous driving, as well as in motion tracking systems [1]. Both gyroscope and acceleration data are combined by means of dead reckoning to obtain the sensor trajectory in a predefined coordination system (note that IMU collects data in the sensor system) This process involves step-by-step coordinate transformation and numerical integration, special care has to be taken to handle error accumulation [1,2,3,4].

Sensor

Trajectory reconstruction

Findings

Conclusions