Inertial sensors in the stabilization system of the balancing vehicle

Stanisław Chudzik

Abstract


The article presents the possibilities of using popular MEMS inertial sensors in the object tilt angle estimation system and in the system for stabilizing the vertical position of the balancing robot. Two research models were built to conduct the experiment. The models use microcontroller development board of the STM32F3 series with the Cortex-M4 core, equipped with a three-axis accelerometer, magnetometer and gyroscope. To determine the accuracy of the angle estimation, comparative tests with a pulse encoder were performed.


Full Text:

PDF

References


P. Groves, “Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems”, Norwood, MA: Artech House, 2008.

J. Collin, P. Davidson, M. Kirkko-Jaakkola, H. Leppäkoski “Inertial Sensors and Their Applications” S. Bhattacharyya, E. Deprettere, R. Leupers, J.Takala “Handbook of Signal Processing Systems”. Springer, 2019, pp.51-85. DOI 10.1007/978-3-319-91734-4_2

M. Labowski, P. Kaniewski, P. Serafin, "Inertial Navigation System for Radar Terrain Imaging," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, pp. 942-948, April 2016.

M. Elhoushi, J. Georgy, A. Noureldin and M. J. Korenberg, "A Survey on Approaches of Motion Mode Recognition Using Sensors," in IEEE Transactions on Intelligent Transportation Systems, vol. 18, no. 7, pp. 1662-1686, July 2017, DOI: 10.1109/TITS.2016.2617200.

B. Aguiar, T. Rocha, J. Silva and I. Sousa, "Accelerometer-based fall detection for smartphones," 2014 IEEE International Symposium on Medical Measurements and Applications (MeMeA), Lisboa, 2014, pp. 1-6, DOI: 10.1109/MeMeA.2014.6860110.

J. M. Darmanin et al., "Development of a High-G Shock Sensor Based on MEMS Technology for Mass-Market Applications," 2019 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL), Naples, FL, USA, 2019, pp. 1-4, DOI: 10.1109/ISISS.2019.8739763.

M. Mansoor, I. Haneef, S. Akhtar, M. A. Rafiq, S. Z. Ali and F. Udrea, "SOI CMOS multi-sensors MEMS chip for aerospace applications," SENSORS, 2014 IEEE, Valencia, Spain, 2014, pp. 1204-1207, DOI: 10.1109/ICSENS.2014.6985225.

A. Mikov, A. Panyov, V. Kosyanchuk and I. Prikhodko, "Sensor Fusion For Land Vehicle Localization Using Inertial MEMS and Odometry," 2019 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL), Naples, FL, USA, 2019, pp. 1-2, DOI: 10.1109/ISISS.2019.8739427.

C. Acar, "High-performance 6-Axis MEMS inertial sensor based on Through-Silicon Via technology," 2016 IEEE International Symposium on Inertial Sensors and Systems, Laguna Beach, CA, 2016, pp. 62-65, DOI: 10.1109/ISISS.2016.7435545.

I. P. Prikhodko, B. Bearss, C. Merritt, J. Bergeron and C. Blackmer, "Towards self-navigating cars using MEMS IMU: Challenges and opportunities," 2018 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL), Moltrasio, 2018, pp. 1-4, DOI: 10.1109/ISISS.2018.8358141.

R. E. Kalman, "A New Approach to Linear Filtering and Prediction Problems." ASME. J. Basic Eng. March 1960; vol. 82, no1, pp. 35–45. DOI 10.1115/1.3662552

J. Gajda, R. Sroka, M. Stencel, T. Żegleń, “Data fusion applications in the traffic parameters measurement”, Metrology and Measurement Systems, vol. 2, no. 3, pp. 249–262, 2005.

S.Chudzik, “The idea of using artificial neural network in measurement system with hot probe for testing parameters of heat-insulating materials”, Measurement, vol. 42 pp. 764–770, 2009.


Refbacks

  • There are currently no refbacks.


International Journal of Electronics and Telecommunications
is a periodical of Electronics and Telecommunications Committee
of Polish Academy of Sciences

eISSN: 2300-1933