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

Li Xing1, Xiaowei Tu1, Weixing Qian2

  • 1School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 20444, China.

Micromachines
|August 4, 2019
PubMed
Summary

This study introduces a cost-effective, wide-range Microelectromechanical System (MEMS) Inertial Measurement Unit (IMU) for multi-rotor Unmanned Aerial Vehicles (UAVs). The novel design enhances angular rate measurement accuracy and range while reducing costs.

Keywords:
MEMSangular rate measurementdata fusiongyroscoperedundant IMUs

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Sensor Technology

Background:

  • Multi-rotor Unmanned Aerial Vehicles (UAVs) require accurate and wide-ranging inertial measurements.
  • Existing Microelectromechanical System (MEMS) Inertial Measurement Units (IMUs) face challenges in balancing cost, range, and accuracy.
  • Heterogeneous redundancy configurations are explored to address these limitations.

Purpose of the Study:

  • To design a low-cost, wide-range, and accurate MEMS IMU for multi-rotor UAVs.
  • To propose an adaptive data fusion method for redundant MEMS gyroscopes.
  • To validate the effectiveness of the proposed scheme through simulations and real-world data.

Main Methods:

  • A heterogeneous parallel redundancy configuration scheme was designed for MEMS IMUs.
  • A combination of high-cost, small-range and low-cost, large-range MEMS gyroscopes was utilized.
  • An adaptive data fusion algorithm was developed for the redundant gyroscope system.

Main Results:

  • The proposed heterogeneous redundancy scheme effectively improved angular rate measurement performance.
  • The method successfully broadened the measurable angular rate range for the UAV.
  • The configuration achieved cost and volume savings for the micro IMU.

Conclusions:

  • The developed MEMS IMU configuration and adaptive fusion method meet the requirements for multi-rotor UAVs.
  • This approach offers a practical solution for enhancing IMU performance while managing costs.
  • The study demonstrates significant improvements in angular rate measurement for UAV applications.