scholarly journals Research on Filtering Algorithm of MEMS Gyroscope Based on Information Fusion

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3552
Author(s):  
Hui Guo ◽  
Huajie Hong

As an important inertial sensor, the gyroscope is mainly used to measure angular velocity in inertial space. However, due to the influence of semiconductor thermal noise and electromagnetic interference, the output of the gyroscope has a certain random noise and drift, which affects the accuracy of the detected angular velocity signal, thus interfering with the accuracy of the stability of the whole system. In order to reduce the noise and compensate for the drift of the MEMS (Micro Electromechanical System) gyroscope during usage, this paper proposes a Kalman filtering method based on information fusion, which uses the MEMS gyroscope and line accelerometer signals to implement the filtering function under the Kalman algorithm. The experimental results show that compared with the commonly used filtering methods, this method allows significant reduction of the noise of the gyroscope signal and accurate estimation of the drift of the gyroscope signal, and thus improves the control performance of the system and the stability accuracy.

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7352
Author(s):  
Yufei Sun ◽  
Peng Guo ◽  
Lihui Feng ◽  
Chaoyang Xing ◽  
Junjie Wu

To reduce the impact of acoustic interference in a microelectromechanical system (MEMS) gyroscope and to improve the reliability of output data, a filtering algorithm based on orthogonal demodulation is proposed. According to the working principle and failure mechanism of a MEMS gyroscope, the sound and angular velocity frequencies are not identical, which lead to a different frequency signal output of the original single-channel demodulation scheme. Therefore, a Q channel demodulation filtering process was added to the origin single-channel demodulation scheme. For the Q channel demodulated signal, a Hilbert transform was used to compensate for the 90 degree phase shift. The IQ dual-channel difference can remove the acoustic interference signal. The simulation results indicate that the scheme can effectively suppress the acoustic interference signal and it can eliminate more than 95% of the impact of sound waves. We assembled the acoustic interference experimental platform, collected the driving and sensing data, and verified the denoising performance with our algorithm, which eliminated more than 70% of the noise signal. The simulation and experimental results demonstrate that the scheme can eliminate acoustic interference signal without destroying angular velocity signal.


2020 ◽  
pp. 46-53
Author(s):  
Dávid Megyesi ◽  
Róbert Bréda ◽  
Michal Schreiner

The article deals with the analysis of angular velocity sensors, for the control of a small unmanned airplane. In the paper, the authors discuss the process of creating an angular velocity sensor error model for the analysis of the interfering component size of the useful signal. The built-in error model of the inertial sensor will be implemented in a small, unmanned airplane model, in order to increase the stability and controllability of the airplane. Allan variation will be used to analyze stochastic processes of inertial sensors.


2020 ◽  
pp. 1-12
Author(s):  
Linuo Wang

The current technology related to athlete gait recognition has shortcomings such as complicated equipment and high cost, and there are also certain problems in recognition accuracy and recognition efficiency. In order to improve the efficiency of athletes’ gait recognition, this paper studies the different recognition technologies of athletes based on machine learning and spectral feature technology and applies computer vision technology to sports. Moreover, according to the calf angular velocity signal, the occurrence of leg movement is detected in real time, and the gait cycle is accurately divided to reduce the influence of the signal unrelated to the behavior on the recognition process. In addition, this study proposes a gait behavior recognition method based on event-driven strategies. This method uses a gyroscope as the main sensor and uses a wearable sensor node to collect the angular velocity signals of the legs and waist. In addition, this study analyzes the performance of the algorithm proposed by this paper through experimental research. The comparison results show that the method proposed by this paper has improved the number of recognition action types and accuracy and has certain advantages from the perspective of computation and scalability.


2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Samuel F. Asokanthan ◽  
Soroush Arghavan ◽  
Mohamed Bognash

Effect of stochastic fluctuations in angular velocity on the stability of two degrees-of-freedom ring-type microelectromechanical systems (MEMS) gyroscopes is investigated. The governing stochastic differential equations (SDEs) are discretized using the higher-order Milstein scheme in order to numerically predict the system response assuming the fluctuations to be white noise. Simulations via Euler scheme as well as a measure of largest Lyapunov exponents (LLEs) are employed for validation purposes due to lack of similar analytical or experimental data. The response of the gyroscope under different noise fluctuation magnitudes has been computed to ascertain the stability behavior of the system. External noise that affect the gyroscope dynamic behavior typically results from environment factors and the nature of the system operation can be exerted on the system at any frequency range depending on the source. Hence, a parametric study is performed to assess the noise intensity stability threshold for a number of damping ratio values. The stability investigation predicts the form of threshold fluctuation intensity dependence on damping ratio. Under typical gyroscope operating conditions, nominal input angular velocity magnitude and mass mismatch appear to have minimal influence on system stability.


1985 ◽  
Vol 52 (3) ◽  
pp. 686-692 ◽  
Author(s):  
L. A. Month ◽  
R. H. Rand

This problem is a generalization of the classical problem of the stability of a spinning rigid body. We obtain the stability chart by using: (i) the computer algebra system MACSYMA in conjunction with a perturbation method, and (ii) numerical integration based on Floquet theory. We show that the form of the stability chart is different for each of the three cases in which the spin axis is the minimum, maximum, or middle principal moment of inertia axis. In particular, a rotation with arbitrarily small angular velocity about the maximum moment of inertia axis can be made unstable by appropriately choosing the model parameters. In contrast, a rotation about the minimum moment of inertia axis is always stable for a sufficiently small angular velocity. The MACSYMA program, which we used to obtain the transition curves, is included in the Appendix.


1831 ◽  
Vol 121 ◽  
pp. 17-66

In last April I had the honour of presenting to the Society a paper containing expressions for the variations of the elliptic constants in the theory of the motions of the planets. The stability of the solar system is established by means of these expressions, if the planets move in a space absolutely devoid of any resistance*, for it results from their form that however far the ap­proximation be carried, the eccentricity, the major axis, and the tangent of the inclination of the orbit to a fixed plane, contain only periodic inequalities, each of the three other constants, namely, the longitude of the node, the longitude of the perihelion, and the longitude of the epoch, contains a term which varies with the time, and hence the line of apsides and the line of nodes revolve continually in space. The stability of the system may therefore be inferred, which would not be the case if the eccentricity, the major axis, or the tangent of the inclination of the orbit to a fixed plane contained a term varying with the time, however slowly. The problem of the precession of the equinoxes admits of a similar solution; of the six constants which determine the position of the revolving body, and the axis of instantaneous rotation at any moment, three have only periodic inequalities, while each of the other three has a term which varies with the time. From the manner in which these constants enter into the results, the equilibrium of the system may be inferred to be stable, as in the former case. Of the constants in the latter problem, the mean angular velocity of rotation may be considered analogous to the mean motion of a planet, or its major axis ; the geographical longitude, and the cosine of the geographical latitude of the pole of the axis of instantaneous rotation, to the longitude of the perihelion and the eccentricity; the longitude of the first point of Aries and the obliquity of the ecliptic, to the longitude of the node and the inclination of the orbit to a fixed plane; and the longitude of a given line in the body revolving, passing through its centre of gravity, to the longitude of the epoch. By the stability of the system I mean that the pole of the axis of rotation has always nearly the same geographical latitude, and that the angular velocity of rotation, and the obliquity of the ecliptic vary within small limits, and periodically. These questions are considered in the paper I now have the honour of submitting to the Society. It remains to investigate the effect which is produced by the action of a resisting medium; in this case the latitude of the pole of the axis of rotation, the obliquity of the ecliptic, and the angular velocity of rotation might vary considerably, although slowly, and the climates undergo a con­siderable change.


Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5736
Author(s):  
Filippo Accomando ◽  
Andrea Vitale ◽  
Antonello Bonfante ◽  
Maurizio Buonanno ◽  
Giovanni Florio

The compensation of magnetic and electromagnetic interference generated by drones is one of the main problems related to drone-borne magnetometry. The simplest solution is to suspend the magnetometer at a certain distance from the drone. However, this choice may compromise the flight stability or introduce periodic data variations generated by the oscillations of the magnetometer. We studied this problem by conducting two drone-borne magnetic surveys using a prototype system based on a cesium-vapor magnetometer with a 1000 Hz sampling frequency. First, the magnetometer was fixed to the drone landing-sled (at 0.5 m from the rotors), and then it was suspended 3 m below the drone. These two configurations illustrate endmembers of the possible solutions, favoring the stability of the system during flight or the minimization of the mobile platform noise. Drone-generated noise was filtered according to a CWT analysis, and both the spectral characteristics and the modelled source parameters resulted analogously to that of a ground magnetic dataset in the same area, which were here taken as a control dataset. This study demonstrates that careful processing can return high quality drone-borne data using both flight configurations. The optimal flight solution can be chosen depending on the survey target and flight conditions.


The initial value problem for the two-dimensional inviscid vorticity equation, linearized about an azimuthal basic velocity field with monotonic angular velocity, is solved exactly for mode-one disturbances. The solution behaviour is investigated for large time using asymptotic methods. The circulation of the basic state is found to govern the ultimate fate of the disturbance: for basic state vorticity distributions with non-zero circulation, the perturbation tends to the steady solution first mentioned in Michalke & Timme (1967), while for zero circulation, the perturbation grows without bound. The latter case has potentially important implications for the stability of isolated eddies in geophysics.


2011 ◽  
Vol 291-294 ◽  
pp. 3139-3143
Author(s):  
Xing Cui ◽  
Xiao Ming Zhang ◽  
Guo Bin Chen ◽  
Yong Hui Li ◽  
Jun Liu

The MEMS gyroscope used in Spinning Projectiles is a single-chip and axis gyroscope drive by high-speed rotary of Spinning Projectiles. To analysis this theory, a corresponding mathematical module was established based on the structural principle of the gyroscope and the Kinetic parameters included in the mathematical module was analyzed and calculation. By calculation, the paper had drawn the curve between the displacement of mass and the input angular velocity. By using ANSYS software the vibration mode and harmonic response have been done, after comparing the results of imitation and calculation, it is found that the difference is little, so the theory based on the displacement of mass is correct.


Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2759 ◽  
Author(s):  
Eric Allseits ◽  
Kyoung Kim ◽  
Christopher Bennett ◽  
Robert Gailey ◽  
Ignacio Gaunaurd ◽  
...  

Tele-rehabilitation of patients with gait abnormalities could benefit from continuous monitoring of knee joint angle in the home and community. Continuous monitoring with mobile devices can be restricted by the number of body-worn sensors, signal bandwidth, and the complexity of operating algorithms. Therefore, this paper proposes a novel algorithm for estimating knee joint angle using lower limb angular velocity, obtained with only two leg-mounted gyroscopes. This gyroscope only (GO) algorithm calculates knee angle by integrating gyroscope-derived knee angular velocity signal, and thus avoids reliance on noisy accelerometer data. To eliminate drift in gyroscope data, a zero-angle update derived from a characteristic point in the knee angular velocity is applied to every stride. The concurrent validity and construct convergent validity of the GO algorithm was determined with two existing IMU-based algorithms, complementary and Kalman filters, and an optical motion capture system, respectively. Bland–Altman analysis indicated a high-level of agreement between the GO algorithm and other measures of knee angle.


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