scholarly journals A Multi-Model Combined Filter with Dual Uncertainties for Data Fusion of MEMS Gyro Array

Sensors ◽  
2018 ◽  
Vol 19 (1) ◽  
pp. 85
Author(s):  
Qiang Shen ◽  
Jieyu Liu ◽  
Xiaogang Zhou ◽  
Lixin Wang
Keyword(s):  
Attitude Control ◽  
Dynamic Condition ◽  
Angular Rate ◽  
Dynamic Performance ◽  
Micro Electro Mechanical System ◽  
Minkowski Sum ◽  
Multiple Model ◽  
True Value ◽  
Dual Uncertainties ◽  
Set Membership

The gyro array is a useful technique in improving the accuracy of a micro-electro-mechanical system (MEMS) gyroscope, but the traditional estimate algorithm that plays an important role in this technique has two problems restricting its performance: The limitation of the stochastic assumption and the influence of the dynamic condition. To resolve these problems, a multi-model combined filter with dual uncertainties is proposed to integrate the outputs from numerous gyroscopes. First, to avoid the limitations of the stochastic and set-membership approaches and to better utilize the potentials of both concepts, a dual-noise acceleration model was proposed to describe the angular rate. On this basis, a dual uncertainties model of gyro array was established. Then the multiple model theory was used to improve dynamic performance, and a multi-model combined filter with dual uncertainties was designed. This algorithm could simultaneously deal with stochastic uncertainties and set-membership uncertainties by calculating the Minkowski sum of multiple ellipsoidal sets. The experimental results proved the effectiveness of the proposed filter in improving gyroscope accuracy and adaptability to different kinds of uncertainties and different dynamic characteristics. Most of all, the method gave the boundary surrounding the true value, which is of great significance in attitude control and guidance applications.

Active Roll Control of Heavy Single Unit Vehicles Employing MEMS Angular Rate Sensors

2007 ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Ye Tian ◽  
Tianfu Wang
Keyword(s):  
Single Unit ◽  
Dynamic Models ◽  
Low Cost ◽  
Angular Rate ◽  
Micro Electro Mechanical System ◽  
Angular Rate Sensor ◽  
Linear Quadratic ◽  
Roll Control ◽  
Active Roll Control ◽  
Rate Sensor

The present paper is concerned with the use of active roll control to improve the roll stability of heavy road-vehicles and the application of Micro-electro-mechanical System (MEMS) angular rate sensors in the feedback monitoring. For this purpose, mathematical models that represent the roll/yaw dynamics for a torsionally rigid Single Unit Vehicle (SUV) is presented. The state-space models that represent the vehicle dynamics are also developed for the purpose of performing numerical simulations. A linear Quadratic Gaussian (LQG) based controller, using Kalman estimator to estimate certain states, is employed to design a full-state active roll control system. A mathematical model that represents the dynamic behavior of a low-cost MEMS gyroscope is derived for the purpose of investigating the suitability of applying this class of angular rate sensor in the roll control of heavy vehicles. Some reliability issues related to MEMS sensors, such as noise and drift, are introduced and included in vehicle dynamic models.

Angular Rate Sensor Based on a Solid-State Wave Gyroscope with a Metal Resonator for Attitude Control, Stabilization and Navigation Systems

2021 ◽  
Vol 22 (7) ◽  
pp. 374-382
Author(s):  
V. Ya. Raspopov ◽  
V. V. Likhosherst
Keyword(s):  
Attitude Control ◽  
Angular Rate ◽  
Operating Conditions ◽  
Simultaneous Action ◽  
Navigation Systems ◽  
Angular Rate Sensor ◽  
Manufacturing Defects ◽  
Vibration Localization ◽  
Resonance Frequencies ◽  
Rate Sensor

The article describes the methods and test results of a solid-wave gyroscope (SVG) — an angular rate sensor (ARS), developed at the Department of Control Devices, Tula State University and manufactured by the serial plant of JSC "Michurinsky Plant" Progress "according to the technology it worked out. The metal resonator SVG-ARS is made of an elinvar alloy and has a cylindrical structure of different thickness, the lower part of which, with a smaller wall thickness, acts as a suspension for the upper cylinder, the resonator itself, which has a conical shape, providing better vibration localization at its end edge. Technological manufacturing defects, different frequencies and variability, are eliminated by balancing " by mass" based on the removal of excess metal at certain points on the end edge of the resonator. The electronic module provides the second mode of primary and secondary oscillations of the resonator edge arising during rotation and creates a signal to compensate for the Coriolis and quadrature components of the output signal at the nodes. The maximum amplitudes of the excitation and compensation signals do not exceed 10 V. Therefore, at large values of mechanical influences, the compensation circuit may not work out the increased signal and the SVG-ARS loses its operability. The total processing time of the compensation signal does not exceed 1 μs. The maximum power consumption of the electronic module is not more than 4 W. When testing for mechanical and temperature effects, the norms were used that are typical for similar devices (angular rate sensors) used on board aircraft. The tests were carried out on the bench equipment of a specialized enterprise. The stability of the zero signal and the scale factor was determined under the simultaneous action of the measured speed and temperature on the SVG-ARS. The values of the random walk and the instability of the zero signal were obtained from the Allan deviation plots. Their values provide a basis for the conclusion about the possibility of using the developed SVG for several hours on board dynamic aircraft in orientation, stabilization and navigation systems. It was found that SVG-ARS possesses impact strength and restores its measuring ability after impact. Tests for vibration resistance revealed resonance frequencies and frequency rangesin which the tested VTG-DUS sample can be used without significant modification. The results of vibration tests can be used to refine the design and control electronics for the operating conditions of a particular aircraft.

Research on the Hardware-in-the-Loop Simulation for High Dynamic SINS/GNSS Integrated Navigation System

2013 ◽  
Vol 846-847 ◽  
pp. 378-382
Author(s):  
Hao Ran Lei ◽  
Shuai Chen ◽  
Yao Wei Chang ◽  
Lei Jie Wang
Keyword(s):  
Navigation System ◽  
Dynamic Condition ◽  
Angular Rate ◽  
Rotation Vector ◽  
Measurement Unit ◽  
Hardware In The Loop ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Sample Rotation ◽  
High Dynamic

In the process of developing guided munitions, ground test can only verify the performance of integrated navigation system in low dynamic condition, and its costly and risky to use means of authentication such as flight test and throw experiment. This paper proposes a kind of hardware-in-the-loop simulation (HILS) scheme with tri-axial turntable for verifying the performance of navigation system in high dynamic condition. It respectively uses quaternion method and four-sample rotation vector algorithm as attitude updating algorithms for comparison. On the basis of analyzing the characteristics of some tactical missile and the HILS system, the error sources of integrated navigation system in the simulation with turntable and that without turntable are discussed in detail. The results of HILS show that integrated navigation system is of good performance under high dynamic environment; moreover, for the fiber optic gyroscope (FOG) inertial measurement unit (IMU) which outputs angular rate, quaternion method is better than four-sample rotation vector algorithm.

scholarly journals Roll Angle Estimation Algorithm of Geomagnetic/Gyro Combination Based on an Interacting Multiple-Model Kalman Filter

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Jian-li Su ◽  
Hua Wang
Keyword(s):  
Kalman Filter ◽  
Measurement Accuracy ◽  
Angular Rate ◽  
Estimation Algorithm ◽  
Roll Angle ◽  
Interacting Multiple Model ◽  
Multiple Model ◽  
Calculation Results ◽  
Gyroscope Sensor ◽  
And Control

The knowledge of the geomagnetic and gyro information that can be used for projectile roll angle is decisive to apply trajectory correction and control law. In order to improve the measurement accuracy of projectile roll angle, an interacting multiple-model Kalman filter (IMMKF) algorithm using gyro angular rate information to geomagnetic sensor information is proposed. Firstly, the data acquisition module of the geomagnetic sensor and the gyroscope sensor is designed, and the test data of the sensors are obtained through the semiphysical experiments. Furthermore, according to the measurement accuracy of each sensor, the algorithm performs the IMMKF process on the geomagnetic/gyro information to get the roll angle. It can be proven by experiments and calculation results that the error of the roll angle obtained after processing by the IMMKF algorithm is close to 2°, which is better than the 5° calculated by adopting the Kalman filter directly with geomagnetic information.

scholarly journals Roll Angular Rate Measurement for High Spinning Projectiles Based on Redundant Gyroscope System

Micromachines ◽  
2020 ◽  
Vol 11 (10) ◽  
pp. 940
Author(s):  
Jing Mi ◽  
Jie Li ◽  
Xi Zhang ◽  
Kaiqiang Feng ◽  
Chenjun Hu ◽  
...  
Keyword(s):  
Low Cost ◽  
Moving Average ◽  
Angular Rate ◽  
Arima Model ◽  
Micro Electro Mechanical System ◽  
Rate Measurement ◽  
Adaptive Kalman Filter ◽  
Autoregressive Integrated Moving Average ◽  
Gyroscope System ◽  
Technology Level

Precision-guided projectiles, which can significantly improve the accuracy and efficiency of fire strikes, are on the rise in current military engagements. The accurate measurement of roll angular rate is critical to guide a gun-launched projectile. However, Micro-Electro-Mechanical System (MEMS) gyroscope with low cost and large range cannot meet the requirement of high precision roll angular rate measurement due to the limitation by the current technology level. Aiming at the problem, the optimization-based angular rate estimation (OBARS) method specific for projectiles is proposed in this study. First, the output angular rate model of redundant gyroscope system based on the autoregressive integrated moving average (ARIMA) model is established, and then the conventional random error model is improved with the ARIMA model. After that, a Sage-Husa Adaptive Kalman Filter (SHAKF) algorithm that can suppress the time-varying process and measurement noise under the flight condition of the high dynamic of the projectile is designed for the fusion of dynamic data. Finally, simulations and experiments have been carried out to validate the performance of the method. The results demonstrate the proposed method can effectively improve the angular rate accuracy more than the related traditional methods for high spinning projectiles.

scholarly journals A Nonlinear Second-order Spacecraft Attitude Tracking Control Model for Control System Stabilization

2018 ◽  
Vol 198 ◽  
pp. 05007
Author(s):  
Xiaoyi Wang
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Tracking Control ◽  
Angular Rate ◽  
Control Model ◽  
Second Order ◽  
Spacecraft Attitude ◽  
Order Model ◽  
Attitude Tracking ◽  
Attitude Tracking Control

A control model for the direct parameter approach for spacecraft attitude tracking is presented in this paper. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. A problem of control system stabilization is raised based on the control model. Compared with other control models, the second-order can offer the advantages of noapproximation and clear control states. The basic spacecraft control model has to focus on to the two variables which are angular rate and attitude quaternion, however, the new attitude control problem is only with respect to one variable which is the spacecraft attitude quaternion. Therefore, the second-order model is simpler and clear than basic first-order model.

Kurtosis-based IMM filter for multiple MEMS gyroscopes fusion

Sensor Review ◽  
2017 ◽  
Vol 37 (3) ◽  
pp. 237-246 ◽  
Author(s):  
Qiang Shen ◽  
Jieyu Liu ◽  
Huang Huang ◽  
Qi Wang ◽  
Weiwei Qin
Keyword(s):  
Signal Processing ◽  
Transition Probabilities ◽  
Angular Rate ◽  
Processing Method ◽  
Multiple Model ◽  
Content Type ◽  
Mems Gyroscope ◽  
Signal Processing Method ◽  
Mems Gyroscopes ◽  
Markov Parameter

Purpose The purpose of this study is to explore a signal processing method to improve the angular rate accuracy of micro-electro-mechanical system (MEMS) gyroscope by combining numerous gyroscopes. Design/methodology/approach To improve the dynamic performance of the signal processing method, the interacting multiple model (IMM) can be applied to the fusion of gyroscope array. However, the standard IMM has constant Markov parameter, which may reduce the model switching speed. To overcome this problem, an adaptive IMM filter is developed based on the kurtosis of the gyroscope output, in which the transition probabilities are adjusted online by utilizing the dynamic information of the rate signal. Findings The experimental results indicate that the precision of the gyroscope array composed of six gyroscopes increases significantly and the kurtosis-based adaptive Markov parameter IMM filter (K-IMM) performs better than the baseline methods, especially under dynamic conditions. These experiments prove the validity of the proposed fusion method. Practical implications The proposed method can improve the accuracy of MEMS gyroscopes without breakthrough on hardware, which is necessary to extend their utility while not restricting the overwhelming advantages. Original/value A K-IMM algorithm is proposed in this paper, which is used to improve the angular rate accuracy of MEMS gyroscope by combining numerous gyroscopes.

scholarly journals Investigation of a complete squeeze-film damping model for MEMS devices

2021 ◽  
Vol 7 (1) ◽  
Author(s):  
Qianbo Lu ◽  
Weidong Fang ◽  
Chen Wang ◽  
Jian Bai ◽  
Yuan Yao ◽  
...  
Keyword(s):  
Dynamic Performance ◽  
Simulation Models ◽  
Micro Electro Mechanical System ◽  
Damping Coefficient ◽  
Structural Vibration ◽  
Squeeze Film ◽  
Mems Devices ◽  
Complete Model ◽  
Moving Plate ◽  
Squeeze Film Damping

AbstractDynamic performance has long been critical for micro-electro-mechanical system (MEMS) devices and is significantly affected by damping. Different structural vibration conditions lead to different damping effects, including border and amplitude effects, which represent the effect of gas flowing around a complicated boundary of a moving plate and the effect of a large vibration amplitude, respectively. Conventional models still lack a complete understanding of damping and cannot offer a reasonably good estimate of the damping coefficient for a case with both effects. Expensive efforts have been undertaken to consider these two effects, yet a complete model has remained elusive. This paper investigates the dynamic performance of vibrated structures via theoretical and numerical methods simultaneously, establishing a complete model in consideration of both effects in which the analytical expression is given, and demonstrates a deviation of at least threefold lower than current studies by simulation and experimental results. This complete model is proven to successfully characterize the squeeze-film damping and dynamic performance of oscillators under comprehensive conditions. Moreover, a series of simulation models with different dimensions and vibration statuses are introduced to obtain a quick-calculating factor of the damping coefficient, thus offering a previously unattainable damping design guide for MEMS devices.

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