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Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs

Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high...

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Detalles Bibliográficos
Autores principales: Xing, Li, Tu, Xiaowei, Qian, Weixing, Chen, Zhi, Yang, Qinghua
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6722846/
https://www.ncbi.nlm.nih.gov/pubmed/31374815
http://dx.doi.org/10.3390/mi10080514
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author Xing, Li
Tu, Xiaowei
Qian, Weixing
Chen, Zhi
Yang, Qinghua
author_facet Xing, Li
Tu, Xiaowei
Qian, Weixing
Chen, Zhi
Yang, Qinghua
author_sort Xing, Li
collection PubMed
description Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high-cost and small-range MEMS gyroscope is combined with low-cost and large-range MEMS gyroscopes. Then, an adaptive data fusion method of redundant MEMS gyroscopes is proposed. By the designed experiments based on the simulation data and the sensor measurement data, the proposed method has been proved that it can effectively improve the angular rate measurement performance of the multi-rotor UAV and broaden the angular rate measurement range on the basis of saving the configuration cost and volume of the micro IMU.
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spelling pubmed-67228462019-09-10 Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs Xing, Li Tu, Xiaowei Qian, Weixing Chen, Zhi Yang, Qinghua Micromachines (Basel) Article Aiming at the low-cost, wide-range, and accurate measurement requirement for Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) on a multi-rotor Unmanned Aerial Vehicle (UAV), the paper designs a heterogeneous parallel redundancy configuration scheme. In redundant MEMS IMUs, a high-cost and small-range MEMS gyroscope is combined with low-cost and large-range MEMS gyroscopes. Then, an adaptive data fusion method of redundant MEMS gyroscopes is proposed. By the designed experiments based on the simulation data and the sensor measurement data, the proposed method has been proved that it can effectively improve the angular rate measurement performance of the multi-rotor UAV and broaden the angular rate measurement range on the basis of saving the configuration cost and volume of the micro IMU. MDPI 2019-08-01 /pmc/articles/PMC6722846/ /pubmed/31374815 http://dx.doi.org/10.3390/mi10080514 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Xing, Li
Tu, Xiaowei
Qian, Weixing
Chen, Zhi
Yang, Qinghua
Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title_full Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title_fullStr Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title_full_unstemmed Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title_short Performance Enhancement Method for Angular Rate Measurement Based on Redundant MEMS IMUs
title_sort performance enhancement method for angular rate measurement based on redundant mems imus
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6722846/
https://www.ncbi.nlm.nih.gov/pubmed/31374815
http://dx.doi.org/10.3390/mi10080514
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