Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745664
E. de Toldi, F. Guattari, C. Moluçon, G. Mélin, T. Villedieu, M. Rattier, T. Robin, H. Lefèvre
A good understanding of FOG (fiber-optic gyroscope) magnetic sensitivity is one of the key factors for making high-grade inertial navigation systems. With a typical sensitivity of 1°/h/gauss, very good magnetic shielding has become essential. The state of the art is to use multiple layers of μ-metal. As the shielding efficiency grows, the remaining magnetic sensitivity keeps decreasing, so it becomes difficult to measure it quickly and accurately. This paper describes an innovative method for the fast measurement of a high-efficiency magnetic shielding, using FOG technology.
{"title":"Understanding and control of the magnetic sensitivity of a fiber-optic gyroscope","authors":"E. de Toldi, F. Guattari, C. Moluçon, G. Mélin, T. Villedieu, M. Rattier, T. Robin, H. Lefèvre","doi":"10.1109/INERTIALSENSORS.2016.7745664","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745664","url":null,"abstract":"A good understanding of FOG (fiber-optic gyroscope) magnetic sensitivity is one of the key factors for making high-grade inertial navigation systems. With a typical sensitivity of 1°/h/gauss, very good magnetic shielding has become essential. The state of the art is to use multiple layers of μ-metal. As the shielding efficiency grows, the remaining magnetic sensitivity keeps decreasing, so it becomes difficult to measure it quickly and accurately. This paper describes an innovative method for the fast measurement of a high-efficiency magnetic shielding, using FOG technology.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115668215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745681
Y. Binder, Y. Litmanovich, T. Paderina
This paper presents the approach to eliminate the motion induced disturbances while the attitude determination for the purpose of dead-reckoning navigation that is alternative to the conventional one when an AHRS is used. The key point of the approach called “indirectly correctable pendulum” (ICP) is to use the raw accelerometer data and to account for the motion acceleration in the position components using the log data without differentiation. It is shown that in the case of “flat” motion the total compensation can be achieved applying the quadratic corrective term based on the log data, in the case of 3D motion additionally the inertial support should be provided. Two examples of 3D applications are examined: 1) when the positional gyros (ESG) are used the dead-reckoning can be provided with only one polar gyro and no loss in accuracy against two-gyro AHRS. 2) when 3-axes magnetometer is used for magnetic navigation the tilt errors caused by the motion acceleration can be cancelled without using AHRS. Based on the obtained results the general concept is stated: when the attitude is determined from two nonorthogonal vector observations (one vector is the gravity) the inertial vertical in the plane that contains both vectors can be constructed regardless of the other vector nature. The natural frequency of the inertial loop is defined by the nature of the second vector and can differ from the Schuler one.
{"title":"An alternative approach to eliminate the motion induced disturbances in dead-reckoning navigation","authors":"Y. Binder, Y. Litmanovich, T. Paderina","doi":"10.1109/INERTIALSENSORS.2016.7745681","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745681","url":null,"abstract":"This paper presents the approach to eliminate the motion induced disturbances while the attitude determination for the purpose of dead-reckoning navigation that is alternative to the conventional one when an AHRS is used. The key point of the approach called “indirectly correctable pendulum” (ICP) is to use the raw accelerometer data and to account for the motion acceleration in the position components using the log data without differentiation. It is shown that in the case of “flat” motion the total compensation can be achieved applying the quadratic corrective term based on the log data, in the case of 3D motion additionally the inertial support should be provided. Two examples of 3D applications are examined: 1) when the positional gyros (ESG) are used the dead-reckoning can be provided with only one polar gyro and no loss in accuracy against two-gyro AHRS. 2) when 3-axes magnetometer is used for magnetic navigation the tilt errors caused by the motion acceleration can be cancelled without using AHRS. Based on the obtained results the general concept is stated: when the attitude is determined from two nonorthogonal vector observations (one vector is the gravity) the inertial vertical in the plane that contains both vectors can be constructed regardless of the other vector nature. The natural frequency of the inertial loop is defined by the nature of the second vector and can differ from the Schuler one.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115870977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745663
M. Rosilio, L. Koenigsberg, N. Pasternak, A. Arbel
Closed Loop Fiber Optic (FOG) gyroscopes are known for their high performance in terms of noise and accuracy. They are also the accurate gyro of choice for long and accurate missions. One of the demands in such missions is a very low error in accumulated angle at every step of the mission. The simple PI loop that is commonly implemented as part of a closed loop IFOG can yield errors under certain conditions. Particularly of concern are rate integration errors that appear during angular accelerations. These errors accumulate during longer period of acceleration. To meet the specifications of a precise application in which accurate angle is required at all times, an improved PI loop is suggested. Theoretical analysis for stability and responses for step and ramp changes in rates is shown for both configurations. The proposed solution was implemented and tested using hardware-in-the-loop simulation that allows different mission profiles to be compared. Further, experimental measurements were performed. We show an a 10 to 100 fold improvement in accumulated angle error for a single gyro resulting with less than 10 uRad error at any given time.
{"title":"uRad accumulated angle error FOG","authors":"M. Rosilio, L. Koenigsberg, N. Pasternak, A. Arbel","doi":"10.1109/INERTIALSENSORS.2016.7745663","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745663","url":null,"abstract":"Closed Loop Fiber Optic (FOG) gyroscopes are known for their high performance in terms of noise and accuracy. They are also the accurate gyro of choice for long and accurate missions. One of the demands in such missions is a very low error in accumulated angle at every step of the mission. The simple PI loop that is commonly implemented as part of a closed loop IFOG can yield errors under certain conditions. Particularly of concern are rate integration errors that appear during angular accelerations. These errors accumulate during longer period of acceleration. To meet the specifications of a precise application in which accurate angle is required at all times, an improved PI loop is suggested. Theoretical analysis for stability and responses for step and ramp changes in rates is shown for both configurations. The proposed solution was implemented and tested using hardware-in-the-loop simulation that allows different mission profiles to be compared. Further, experimental measurements were performed. We show an a 10 to 100 fold improvement in accumulated angle error for a single gyro resulting with less than 10 uRad error at any given time.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129102575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745671
M. Perlmutter, S. Breit
The market for high-performance inertial sensors, tactical grade and above, has been dominated to date by macro-scale devices such as HRGs, RLGs and FOGs. While the size, power requirements, and cost of these sensors have decreased considerably over the past two decades and further reductions can be expected, the tactical IMU size remains on the order of 0.5l, and the cost remains in the $10k range. During the same period, micro-scale inertial sensors based on MEMS technology have been introduced for automotive and consumer electronics applications and are now produced at the rate of several million per day. MEMS IMUs have become truly ubiquitous, however they have so far fallen short of the requirements for high-performance applications. Nevertheless, there have been continuing reductions in their size, power and particularly cost, to less than $3 for an IMU. There is great interest in understanding future trends for MEMS and their potential threat to traditional sensors for tactical and navigation grade applications. One author has many years of experience in developing macro-scale high-performance sensors and IMUs. The other author has many years of experience in supplying design tools to leading MEMS organizations worldwide. We will first describe trends that are affecting MEMS inertial sensors, including commoditization, consolidation of advanced CMOS manufacturing, market demands for increasing package- and chip-scale integration, the Internet of Things (IoT), and the entry of mainstream CMOS foundries to MEMS manufacturing. We'll speculate on the direction that could lead to greatest business success for foundries and their customers. We will then survey promising approaches to improving the performance of MEMS sensors and we will conclude with speculations on the roadmap and timeline for a possible crossover for MEMS in high-performance applications.
{"title":"The future of the MEMS inertial sensor performance, design and manufacturing","authors":"M. Perlmutter, S. Breit","doi":"10.1109/INERTIALSENSORS.2016.7745671","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745671","url":null,"abstract":"The market for high-performance inertial sensors, tactical grade and above, has been dominated to date by macro-scale devices such as HRGs, RLGs and FOGs. While the size, power requirements, and cost of these sensors have decreased considerably over the past two decades and further reductions can be expected, the tactical IMU size remains on the order of 0.5l, and the cost remains in the $10k range. During the same period, micro-scale inertial sensors based on MEMS technology have been introduced for automotive and consumer electronics applications and are now produced at the rate of several million per day. MEMS IMUs have become truly ubiquitous, however they have so far fallen short of the requirements for high-performance applications. Nevertheless, there have been continuing reductions in their size, power and particularly cost, to less than $3 for an IMU. There is great interest in understanding future trends for MEMS and their potential threat to traditional sensors for tactical and navigation grade applications. One author has many years of experience in developing macro-scale high-performance sensors and IMUs. The other author has many years of experience in supplying design tools to leading MEMS organizations worldwide. We will first describe trends that are affecting MEMS inertial sensors, including commoditization, consolidation of advanced CMOS manufacturing, market demands for increasing package- and chip-scale integration, the Internet of Things (IoT), and the entry of mainstream CMOS foundries to MEMS manufacturing. We'll speculate on the direction that could lead to greatest business success for foundries and their customers. We will then survey promising approaches to improving the performance of MEMS sensors and we will conclude with speculations on the roadmap and timeline for a possible crossover for MEMS in high-performance applications.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115073587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745672
Donald B. Reid
This paper gives a brief history of the Orbital Gyrocompass, especially as developed and used at Lockheed. The first Orbital Gyrocompass was developed by Lockheed in the fall of 1957 and first successfully flown on the Discoverer 1 on February 28th 1959. The original design consisted of three single-degree of freedom gyros and a horizon sensor. Gyro pitch and yaw drift errors were later identified and corrected on-board. The addition of a digital sun sensor (DSS) allowed the determination of gyro drifts in all three axes. This case also introduced an interesting stability example when switching between the two cases of the Orbital Gyrocompass, i.e. with and without the use of the DSS. Calibrations of the attitude reference system were done periodically on the ground. Included in the inputs to the ground filter were the residual outputs of the on-board flight filter. This provided an early operational example of one filter using the outputs of another filter.
{"title":"Orbital gyrocompass evolution","authors":"Donald B. Reid","doi":"10.1109/INERTIALSENSORS.2016.7745672","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745672","url":null,"abstract":"This paper gives a brief history of the Orbital Gyrocompass, especially as developed and used at Lockheed. The first Orbital Gyrocompass was developed by Lockheed in the fall of 1957 and first successfully flown on the Discoverer 1 on February 28th 1959. The original design consisted of three single-degree of freedom gyros and a horizon sensor. Gyro pitch and yaw drift errors were later identified and corrected on-board. The addition of a digital sun sensor (DSS) allowed the determination of gyro drifts in all three axes. This case also introduced an interesting stability example when switching between the two cases of the Orbital Gyrocompass, i.e. with and without the use of the DSS. Calibrations of the attitude reference system were done periodically on the ground. Included in the inputs to the ground filter were the residual outputs of the on-board flight filter. This provided an early operational example of one filter using the outputs of another filter.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"301 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115667936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745668
X. Xi, Y. L. Wu, D. Xiao, Y. M. Zhang, X. Z. Wu
A type of new metallic coriolis vibratory gyroscope (CVG) with multiple-shell structure is presented. Based on principle of structural topology evolution, a 30 mm diameter resonator comprising a bottom plate, a cylindrical support and 3 resonant shells is designed. The proposed multiple-shell structure increases the effective vibrating mass of the resonator and simultaneously avoids Q factor decrease compared with the single-thick-shell design. The design methodology, manufacture process and circuit strategy of the new CVG is discussed in the paper. The tested Q factor of the metallic resonator is about 10,000 in the atmospheric environment, and the gyroscope prototype without vacuum package presents a bias instability of about 18.5 /°h under room temperature.
{"title":"A new metallic coriolis vibratory gyroscope (CVG) with multiple-shell structure","authors":"X. Xi, Y. L. Wu, D. Xiao, Y. M. Zhang, X. Z. Wu","doi":"10.1109/INERTIALSENSORS.2016.7745668","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745668","url":null,"abstract":"A type of new metallic coriolis vibratory gyroscope (CVG) with multiple-shell structure is presented. Based on principle of structural topology evolution, a 30 mm diameter resonator comprising a bottom plate, a cylindrical support and 3 resonant shells is designed. The proposed multiple-shell structure increases the effective vibrating mass of the resonator and simultaneously avoids Q factor decrease compared with the single-thick-shell design. The design methodology, manufacture process and circuit strategy of the new CVG is discussed in the paper. The tested Q factor of the metallic resonator is about 10,000 in the atmospheric environment, and the gyroscope prototype without vacuum package presents a bias instability of about 18.5 /°h under room temperature.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"28 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123597302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745677
C. Tonhauser, P. Hecker
The amount of automatic approach and landing systems is in recent years supplemented by area navigation and computer vision-based systems. The approach for image-aided final approach and landing is object of research in the project C2Land [1] led by the Institute of Flight Guidance of the Technische Universität Braunschweig. Object of study is an integrated GNSS/INS geolocation system supported by a long range laser scanner to aircraft-autonomously provide geolocation information. The additional sensors replace the classical navigation infrastructure on ground in order to be independent of international airport structures. This paper focuses on a mixed H2/H∞ design of the navigation system in order to enhance position accuracy. Least trace criterion [2] and a novel optimization technique are investigated to fit the sensor noise characteristics. With the resulting approach the tradeoff between Gaussian noise-optimal H2 and worst noise-optimal H∞ is found for the introduced navigation system.
{"title":"Mixed H2/H∞ filter for automatic aircraft landing with optical sensors","authors":"C. Tonhauser, P. Hecker","doi":"10.1109/INERTIALSENSORS.2016.7745677","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745677","url":null,"abstract":"The amount of automatic approach and landing systems is in recent years supplemented by area navigation and computer vision-based systems. The approach for image-aided final approach and landing is object of research in the project C2Land [1] led by the Institute of Flight Guidance of the Technische Universität Braunschweig. Object of study is an integrated GNSS/INS geolocation system supported by a long range laser scanner to aircraft-autonomously provide geolocation information. The additional sensors replace the classical navigation infrastructure on ground in order to be independent of international airport structures. This paper focuses on a mixed H2/H∞ design of the navigation system in order to enhance position accuracy. Least trace criterion [2] and a novel optimization technique are investigated to fit the sensor noise characteristics. With the resulting approach the tradeoff between Gaussian noise-optimal H2 and worst noise-optimal H∞ is found for the introduced navigation system.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125207441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745666
R. Senatore, D. Orsini, F. D'Angelo, A. Pizzarulli, D. Durante, M. Verola, M. Perlmutter
Fiber Optic Gyroscope (FOG) is a truly and unique solid state technology that allows compact, lightweight and accurate sensors technology to provide orientation and position with or without GNSS availability. The INS (Inertial Navigation Systems) realized is an autonomous system that can operates in absence of GNSS and is essential for airborne application where safety is involved (i.e. the system provide heading, attitude and position autonomously in case of GNSS lost). We have developed what we believe is the first ITAR free INS based on FOG technology certified (DO-178, DO-160, DO-254) for high performance airborne applications. We will present system specifications and flight test results.
{"title":"High performance embedded GNSS INS (EGI) based on FOG sensors technology for safety critical airborne applications","authors":"R. Senatore, D. Orsini, F. D'Angelo, A. Pizzarulli, D. Durante, M. Verola, M. Perlmutter","doi":"10.1109/INERTIALSENSORS.2016.7745666","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745666","url":null,"abstract":"Fiber Optic Gyroscope (FOG) is a truly and unique solid state technology that allows compact, lightweight and accurate sensors technology to provide orientation and position with or without GNSS availability. The INS (Inertial Navigation Systems) realized is an autonomous system that can operates in absence of GNSS and is essential for airborne application where safety is involved (i.e. the system provide heading, attitude and position autonomously in case of GNSS lost). We have developed what we believe is the first ITAR free INS based on FOG technology certified (DO-178, DO-160, DO-254) for high performance airborne applications. We will present system specifications and flight test results.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116947527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745674
B. Grinberg, A. Feingold, L. Koenigsberg, L. Furman
The paper reports on a navigation grade 30g MEMS accelerometer based on digital ΔΣ modulation and capacitive sensing. The closed-loop accelerometer is a fully integrated system comprising a uniquely designed MEMS device enclosed in a specially built LCC package with a proprietary ASIC. Like Physical Logic's high-end open-loop MEMS accelerometers, now known as the MAXL-OL-2000 series, the closed-loop design benefits from the in-plane architecture using SOI wafer. Key features of the design are discussed, from the MEMS transducer to system wide considerations of low noise, high linearity, and robust stability of the control design. System level simulation results are presented and compared to the test results from the most recently fabricated MAXL-CL-3030 closed-loop ΔΣ accelerometer with 30g range. Physical Logic has developed a closed-loop MEMS accelerometer with an objective to reach inertial navigation grade performance. Both the high-end open-loop and closed-loop MEMS accelerometers employ a similar transducer design. In a different manner from the commonly used out-of-plane technique for bulk micromachining, an in-plane design using SOI wafer was adopted. The advantages of the approach are full bridge capacitive sensing for parasitic rejection, a highly symmetric mechanical structure for better temperature stability and elimination of the need for vacuum packaging for better reliability. A large proof mass, which is realized in SOI wafer handle layer, contributes to enhanced sensitivity. The closed-loop system architecture operates as a 4th order fabricated MAXL-CL-3030 closed-loop modulator used to convert external acceleration into a high frequency single bit digital signal. The design challenges and considerations are described with emphasis on noise, linearity, and stability. The test results of the MAXL-CL-3030 closed-loop ΔΣ accelerometer confirm the navigation grade design. Measurements are presented demonstrating results of <;20 μg bias stability, 0.01 % typical non-linearity, and less than 10 μg/g2rms Vibration Rectification Error (VRE) up to a 2 kHz frequency range.
{"title":"Closed-loop MEMS accelerometer: From design to production","authors":"B. Grinberg, A. Feingold, L. Koenigsberg, L. Furman","doi":"10.1109/INERTIALSENSORS.2016.7745674","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745674","url":null,"abstract":"The paper reports on a navigation grade 30g MEMS accelerometer based on digital ΔΣ modulation and capacitive sensing. The closed-loop accelerometer is a fully integrated system comprising a uniquely designed MEMS device enclosed in a specially built LCC package with a proprietary ASIC. Like Physical Logic's high-end open-loop MEMS accelerometers, now known as the MAXL-OL-2000 series, the closed-loop design benefits from the in-plane architecture using SOI wafer. Key features of the design are discussed, from the MEMS transducer to system wide considerations of low noise, high linearity, and robust stability of the control design. System level simulation results are presented and compared to the test results from the most recently fabricated MAXL-CL-3030 closed-loop ΔΣ accelerometer with 30g range. Physical Logic has developed a closed-loop MEMS accelerometer with an objective to reach inertial navigation grade performance. Both the high-end open-loop and closed-loop MEMS accelerometers employ a similar transducer design. In a different manner from the commonly used out-of-plane technique for bulk micromachining, an in-plane design using SOI wafer was adopted. The advantages of the approach are full bridge capacitive sensing for parasitic rejection, a highly symmetric mechanical structure for better temperature stability and elimination of the need for vacuum packaging for better reliability. A large proof mass, which is realized in SOI wafer handle layer, contributes to enhanced sensitivity. The closed-loop system architecture operates as a 4th order fabricated MAXL-CL-3030 closed-loop modulator used to convert external acceleration into a high frequency single bit digital signal. The design challenges and considerations are described with emphasis on noise, linearity, and stability. The test results of the MAXL-CL-3030 closed-loop ΔΣ accelerometer confirm the navigation grade design. Measurements are presented demonstrating results of <;20 μg bias stability, 0.01 % typical non-linearity, and less than 10 μg/g2rms Vibration Rectification Error (VRE) up to a 2 kHz frequency range.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122216309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-09-01DOI: 10.1109/INERTIALSENSORS.2016.7745680
M. Ger, C. van Ommeren, M. Westenkirchner, G. Herbold
In this work we study multi model approaches for the purpose of online EKF tuning in strapdown navigation applications. Based on the weaknesses of a single navigation filter (with fixed parameters) not being able to comply with multiple noise conditions, we suggest a parallel application of multiple filters. Each filter corresponds to a hypothesis of the system noise matrix. The likelihood of each model is determinable using the normalized innovation squared (NIS) in presence of position observations (e.g. via GPS). In detail, we examine two methods commonly applied in target tracking algorithms: the interactive multiple model (IMM) and the autonomous multiple model (AMM) approach. An analysis of the two architectures is presented outlining pros and cons. Finally, results of the filter bank approach are compared to a conventional navigation filter based on synthetic and experimental data.
{"title":"Multiple model concepts in navigational applications","authors":"M. Ger, C. van Ommeren, M. Westenkirchner, G. Herbold","doi":"10.1109/INERTIALSENSORS.2016.7745680","DOIUrl":"https://doi.org/10.1109/INERTIALSENSORS.2016.7745680","url":null,"abstract":"In this work we study multi model approaches for the purpose of online EKF tuning in strapdown navigation applications. Based on the weaknesses of a single navigation filter (with fixed parameters) not being able to comply with multiple noise conditions, we suggest a parallel application of multiple filters. Each filter corresponds to a hypothesis of the system noise matrix. The likelihood of each model is determinable using the normalized innovation squared (NIS) in presence of position observations (e.g. via GPS). In detail, we examine two methods commonly applied in target tracking algorithms: the interactive multiple model (IMM) and the autonomous multiple model (AMM) approach. An analysis of the two architectures is presented outlining pros and cons. Finally, results of the filter bank approach are compared to a conventional navigation filter based on synthetic and experimental data.","PeriodicalId":371210,"journal":{"name":"2016 DGON Intertial Sensors and Systems (ISS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128225823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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