在线学习MEMS校准与时间变化和记忆高效的高斯神经拓学
Danilo Pietro Pau1, Simone Tognocchi1, Marco Marcon2
1System Research and Applications, STMicroelectronics, Via C. Olivetti 2, 20864 Agrate Brianza, Italy.
Sensors (Basel, Switzerland)
|June 27, 2025
概括
本研究介绍了一种在设备上的学习方法,使用辐射基函数神经网络 (RBF-NN) 来自校准基于微电机系统的惯性测量单元 (MEMS-IMU). 人工智能方法有效地减少了无需外部处理器的传感器错误,提高了微型飞行器等应用程序的准确性.
科学领域:
- 传感器技术 传感器技术
- 人工智能的人工智能
- 嵌入式系统 嵌入式系统
背景情况:
- 基于微电机系统的惯性测量单元 (MEMS-IMU) 对于运动跟踪至关重要,但存在诸如偏差和热应力等实时错误.
- 传统的线性校准方法无法解决非线性传感器漂移的问题,从而限制了IMU的准确性.
- 设备上的处理能力正在扩大,使传感器包中的复杂算法成为可能.
研究的目的:
- 开发一种在设备上的学习方法,用于自我校准MEMS-IMU.
- 在实时传感器数据中解决非线性错误补偿.
- 在数字信号处理器 (DSP) 中实现和验证基于AI的校准算法.
主要方法:
- 使用辐射基函数神经网络 (RBF-NN) 的设备上学习算法被设计用于MEMS-IMU自我校准.
- 在IMU中集成的数字信号处理器 (DSP) 上实现了RBF-NN算法,执行交联的传感器内学习和推理.
- 该解决方案在LSM6DSO16IS IMU的智能传感器处理单元 (ISPU) 中部署了32位浮点 (fp32) 和16位量化整数 (int16) 版本.
主要成果:
- 在DSP上实现的RBF-NN模型占用了不到21KB的内存.
- 校准模型补偿了46%至95%的加速度计误差和32%至88%的陀螺仪误差.
- 微型飞行器 (MAV) 的态度估计达到了2.84°的低误差.
结论:
- 拟议的设备上学习方法有效地使用低计算复杂度的RBF-NN使用MEMS-IMU进行自我校准.
- 该解决方案可部署在像ISPU这样的资源有限的嵌入式系统上,可实现实时,独立的传感器重新校准.
- 这种方法显著提高了运动感应应用的IMU准确性,通过增强的MAV态度估计来证明这一点.
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