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Implementation of a Low- Cost Multi- IMU by Using Information Form of a Steady State Kalman Filter | ||
| AUT Journal of Electrical Engineering | ||
| مقالات آماده انتشار، پذیرفته شده ، انتشار آنلاین از تاریخ 05 شهریور 1396 | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22060/eej.2017.12045.5028 | ||
| نویسندگان | ||
raouf rasoulzadeh1؛ Alireza Mohammad Shahri  2
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| 1Department of Electrical,Biomedical and Mechatronics engineering Qazvin Branch, Islamic Azad University, Qazvin,Iran | ||
| 2Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran | ||
| چکیده | ||
| In this paper a homogenous multi-sensor fusion method is used to estimate true angular rate and acceleration with combination of four low cost (< 10$) MEMS Inertial Measurement Units (IMU). An information form of steady state Kalman filter is designed to fuse the output of four low accuracy sensors to reduce the noise by the square root of the number of sensors. A hardware is implemented to test the method with 3 types of experiments: static test, constant rate and oscillating test. Results of static test for z-axis show that ARW coefficient reduces to 0.0022°/√s and VRW error reduces about %50. Also dynamic test results show reduction of standard deviation of combined rate signal up to 6 times compare with a single sensor. A comparison between the proposed filter and simple averaging method are performed using dynamic experiment in which the results indicate that the Kalman filter is more accurate compared to the averaging method. | ||
| کلیدواژه ها | ||
| multi-sensor fusion؛ IMU؛ information form of steady-state Kalman filter | ||
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آمار تعداد مشاهده مقاله: 24 |
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