Abstract
The paper deals with performance enhancement of low-cost, consumer-grade inertial sensors realized by means of Micro Electro-Mechanical Systems (MEMS) technology. Focusing their attention on the reduction of bias instability and random walk-driven drift of cost-effective MEMS accelerometers and gyroscopes, the authors hereinafter propose a suitable method, based on a redundant configuration and complemented with a proper measurement procedure, to improve the performance of low-cost, consumer-grade MEMS sensors. The performance of the method is assessed by means of an adequate prototype and compared with that assured by a commercial, expensive, tactical-grade MEMS inertial measurement unit, taken as reference. Obtained results highlight the promising reliability and efficacy of the method in estimating position, velocity, and attitude of vehicles; in particular, bias instability and random walk reduction greater than 25% is, in fact, experienced. Moreover, differences as low as 0.025 rad and 0.89 m are obtained when comparing position and attitude estimates provided by the prototype and those granted by the tactical-grade MEMS IMU.
Highlights
Micro Electro-Mechanical Sensors for inertial measurements, such as gyros and accelerometers, are of high interest in the development of modern vehicles
A method based on redundant configuration for the performance improvement in terms of bias instability and bias drift of low-cost of consumer-grade Mechanical Systems (MEMS) inertial measurement units has been presented hereinafter; attention has been mainly focused on bias with respect to scale factor, since the former is more relevant for this category of sensors [5]
Each SensorTileTM is equipped with an inertial sensor consisting of 16-bit triaxial gyroscope and triaxial accelerometer exchanging raw measures with a concentrator
Summary
Micro Electro-Mechanical Sensors for inertial measurements, such as gyros and accelerometers, are of high interest in the development of modern vehicles. IoT and Industry Automation [9] These solutions include a large number of electronic components used for indoor and outdoor navigation that can be used as aiding sensors, such as Radio-Frequency positioning systems, air data sensors, logs, altimeters, depth sensors, echo sounders, ultrasonic sensors, and several types of imaging cameras. They are all compact electronic components that can be integrated with MEMS inertial sensors to realize small and lightweight units that can be installed on advanced transport platforms
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