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Homogeneous Sensor Fusion Optimization for Low-Cost Inertial Sensors.

Dusan Nemec1, Jan Andel1, Vojtech Simak1

  • 1Department of Control and Information Systems, Faculty of Electrical Engineering and Information Technology, University of Žilina, 01026 Zilina, Slovakia.

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Summary
This summary is machine-generated.

This study introduces real-time sensor fusion and calibration for inertial sensor arrays. The method suppresses faulty sensors, enhancing estimation precision using adaptive weighting for improved accuracy.

Keywords:
MEMS gyroscopecalibrationdata averagingsensor fusion

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Area of Science:

  • Sensor Fusion
  • Inertial Sensor Arrays
  • Real-time Calibration

Background:

  • Homogeneous inertial sensor arrays require robust calibration for accurate data.
  • Degraded sensors can significantly compromise the precision of fused sensor data.
  • Existing methods may lack real-time adaptability and automatic fault detection.

Purpose of the Study:

  • To develop a real-time sensor fusion and calibration method for inertial sensor arrays.
  • To enable automatic suppression of degraded sensors within the array.
  • To maintain or improve the overall precision of the sensor estimation.

Main Methods:

  • Adaptive weighting of sensor data based on Root Mean Square Error (RMSE) against a weighted average.
  • Real-time estimation of sensor calibration constants, including gain and bias.
  • Comparison of estimated angular velocity with a tactical-grade fiber-optic gyroscope as ground truth.

Main Results:

  • The proposed method successfully estimates calibration constants in real-time.
  • Degraded sensors were automatically suppressed, preserving estimation precision.
  • Experimental validation with low-cost MEMS gyroscopes demonstrated the method's effectiveness.

Conclusions:

  • The developed technique offers robust real-time calibration and sensor fusion for inertial sensor arrays.
  • Adaptive weighting and degraded sensor suppression enhance data reliability.
  • The method is applicable to various sensor arrays, including MEMS gyroscopes.