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Summary

Researchers enhanced low-cost Micro-Electro Mechanical Systems (MEMS) inertial sensors using a fusion strategy with Allan variance weighting. This cost-effective method achieves performance comparable to tactical-grade sensors for applications like unmanned aerial vehicles (UAVs).

Keywords:
Allan varianceadditive manufacturingdata fusionmulti-sensorsredundant-IMUweighted average

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Area of Science:

  • Sensor Fusion and Signal Processing
  • Micro-Electro Mechanical Systems (MEMS)
  • Additive Manufacturing

Background:

  • Micro-Electro Mechanical Systems (MEMS) inertial sensors show improved performance, approaching tactical-grade levels.
  • High cost of tactical-grade sensors necessitates performance enhancement of affordable consumer-grade MEMS.
  • Redundancy is a viable strategy for improving the performance of low-cost inertial sensors.

Purpose of the Study:

  • To develop and evaluate a strategy for fusing raw measurements from multiple MEMS inertial sensors.
  • To assess the impact of a 3D-printed reinforced ONYX structure on sensor performance.
  • To achieve cost-effective inertial sensing solutions for applications like small unmanned aerial vehicles (UAVs).

Main Methods:

  • Raw acceleration and angular rate data from multiple MEMS sensors were fused.
  • Sensor measurements were averaged using weights derived from Allan variance analysis, prioritizing lower noise figures.
  • A 3D-printed structure made of reinforced ONYX was utilized, and its mechanical and environmental effects were evaluated.

Main Results:

  • The prototype system demonstrated performance comparable to a tactical-grade inertial measurement unit, with heading measurement differences as low as 0.3 degrees in stationary conditions.
  • The reinforced ONYX 3D structure provided superior mechanical characteristics (250 MPa tensile strength) without significantly impacting thermal or magnetic field measurements.
  • Real-world UAV testing showed root-mean-square error in heading measurements as low as 0.3 degrees over 140-second intervals.

Conclusions:

  • The proposed sensor fusion strategy effectively enhances the performance of low-cost MEMS inertial sensors.
  • Reinforced ONYX 3D printing is suitable for creating robust sensor structures for avionic applications.
  • This approach offers a cost-effective alternative to tactical-grade inertial measurement units for UAVs and similar applications.