Abstract
The paper deals with theoretical and practical assessments of nonorthogonal configurations of MEMS sensors based on both the uniaxial gyroscopes and the triaxial inertial measuring units. The main goal of the paper is research of the possibility to use nonorthogonal redundant configurations in navigation applications. Methods of inertial navigation, analytical mechanics, mathematical statistics and simulation were used in the research. Analysis of nonorthogonal redundant configurations of uniaxial MEMS sensor arrays including matrices of directional cosines has been carried out. Description of nonorthogonal redundant MEMS sensor array based on inertial measuring units (MPU-6050) is represented. Tables of directional cosines for nonortogonal redundant MEMS arrays based on inertial measuring units with such constructive elements as triangular and tetragonal pyramids are obtained. The mutual location of measuring axes for these configurations is given. Features of dynamic test including equipment possibilities and technique of random errors determination are described. Using of the three-degree-of-freedom test bench provides the simulation of the developed MEMS sensor arrays in conditions close to the real operation. The theoretical assessment of accuracy of nonorthogonal redundant MEMS sensor arrays based on both the uniaxial gyroscopes and the triaxial inertial measuring units is carried out. The assessment is implemented using correlation matrices of errors. The experimental assessment of the MEMS array based on triaxial inertial measuring units is determined based on the results of the dynamic analysis. The appropriate graphical dependences including graphs of relative variances and histograms of the random errors distribution are presented. Comparative analysis of the obtained assessments is given. The results can be useful for the design of navigation systems, for example, unmanned aerial vehicles or rockets for the launch of satellites into orbit.
Highlights
Nowadays sensors based on micro-electromechanical systems (MEMS sensors) are widely used in the areas of navigation and motion control
The presented result is only part of the research, which covers a number of problems connected with the design of nonorthogonal configurations of triaxial MEMS sensors
Analysis of nonorthogonal configurations based on uniaxial MEMS sensors is carried out
Summary
Nowadays sensors based on micro-electromechanical systems (MEMS sensors) are widely used in the areas of navigation and motion control Among these applications, autopilots of unmanned aerial vehicles (UAVs) and rockets designed for launching small satellites into orbit should be mentioned. Usage of nonorthogonal redundant configurations of navigational information measuring instruments based on MEMS sensors is characterized by some advantages. In the third place, such configurations provide the possibility to locate a larger number of sensors in the same dimensions of a constructive unit This advantage is useful even taking into account miniaturization of modern inertial sensors. The topicality of the research in the above-mentioned areas is caused by the necessity to provide the high accuracy and reliability of navigation measurements in motion control systems of unmanned vehicles
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