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2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)最新文献

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Rayleigh-OFDR Strain Distribution Measurement of a Self-Standing Fiber-Gyroscope Coil 自立式光纤陀螺线圈的瑞利- ofdr应变分布测量
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787740
H. Boiron, J. Pillon, E. Peter, E. Marin, M. Collignon, A. Morana, S. Girard, H. Lefèvre
We used Rayleigh-Optical Frequency Domain Reflectometry (Rayleigh-OFDR or R-OFDR) technique to improve our understanding of the longitudinal strain distribution along the optical fiber of a quadrupolar sensing coil of a fiber-optic gyroscope (FOG). To characterize this strain distribution remains crucial to better control the thermal impact on bias performance of the gyroscope. We analyzed this effect for a 400 m-long fiber coil, exposed to a ramp of temperature between 0°C and 80°C. R-OFDR method appears as a very promising candidate to reveal the complex thermo-mechanical behavior of the fiber sensing coil, offering a distributed view of classically integrated quantities, such as proper frequency or scale factor, and an access to the longitudinal elastic strain of the fiber, that is a source of bias defects in FOG measurement.
我们使用瑞利-光频域反射(Rayleigh-OFDR或R-OFDR)技术来提高我们对光纤陀螺仪(FOG)四极传感线圈沿光纤纵向应变分布的理解。为了更好地控制热对陀螺仪偏置性能的影响,对这种应变分布进行表征至关重要。我们分析了400米长的光纤线圈的这种影响,暴露在0°C到80°C之间的温度梯度中。R-OFDR方法是揭示光纤传感线圈复杂的热机械行为的一个非常有前途的候选方法,它提供了经典积分量的分布视图,例如适当的频率或比例因子,以及光纤纵向弹性应变的访问,这是光纤测量中偏压缺陷的来源。
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引用次数: 2
Miniaturized Navigation Grade Quartz Vba Accelerometer For Space Applications 用于空间应用的微型化导航级石英Vba加速度计
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787528
Olivier Jolly, T. Kerrien, Steven Fosset, P. Cheiney, S. Michel, A. Cadu
This paper demonstrates that modified navigation grade accelerometers are good candidates for space applications. This is the response to an increasing demand for high performance inertial sensors in new space applications. Improvement of this product is an ongoing effort to make small sensors reliable in even more demanding applications, such as Pioneers [1] and Eurisa [2] European projects.
本文论证了改进的导航级加速度计是空间应用的理想选择。这是对新空间应用中对高性能惯性传感器日益增长的需求的回应。该产品的改进是一个持续的努力,使小型传感器在更苛刻的应用中可靠,如先锋[1]和Eurisa[2]欧洲项目。
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引用次数: 1
Effect of Geometry on Energy Losses In Fused Silica Dual-Shell Gyroscopes 几何形状对熔融二氧化硅双壳陀螺仪能量损失的影响
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787718
Wei Guan, Danmeng Wang, M. Asadian, Yusheng Wang, A. Shkel
This paper studies the energy loss mechanism through the substrate in 3D Fused Silica dual-shell gyroscopes (DSGs), focusing on design and geometry of anchor structures. In dual-shell gyroscopes, the sensing shell element (inner shell) is anchored to a substrate through an inner stem and an outer cap shell. This configuration creates a double-end clamped anchor to enhance the robustness of the device under mechanical shock and vibrations. However, the double-ended anchor, if not optimized by design, can become a major contributor to the energy loss and adversely affect the sensor’s performance. In our analysis, we studied the effect of different anchor geometries on the anchor loss in the n=2 wineglass mode, using FEA and the Perfectly Matched Layer model. We identified the inner-to-outer shell junction as one of the key geometric characteristics in defining anchor losses in DSGs. Based on our parametric study, we confirmed the significance of location of junctions connecting the two shells on energy losses, identified a trend for optimization of geometry, and confirmed our findings experimentally.
本文研究了三维熔融二氧化硅双壳陀螺仪(dsg)中基片的能量损失机理,重点研究了锚定结构的设计和几何结构。在双壳陀螺仪中,感测壳元件(内壳)通过内杆和外帽壳固定在基板上。这种结构创造了一个双端固定锚,以增强设备在机械冲击和振动下的稳健性。然而,如果没有通过设计进行优化,双端锚可能会成为能量损失的主要因素,并对传感器的性能产生不利影响。在我们的分析中,我们使用有限元分析和完美匹配层模型研究了n=2葡萄酒杯模式下不同锚杆几何形状对锚杆损失的影响。我们将内外壳连接确定为定义dsg中锚点损失的关键几何特征之一。基于我们的参数研究,我们证实了连接两个壳层的结点位置对能量损失的重要性,确定了几何结构优化的趋势,并通过实验证实了我们的发现。
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引用次数: 1
Si-MEMS gyro by Safran: Towards the navigation grade 赛峰Si-MEMS陀螺仪:迈向导航级
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787731
Jean-Daniel Émerard, Julien Auger, J. Mace, C. Kergueris, Frédéric Fretouly, Y. Lenoir, F. Delhaye
Prolonging the pioneering works initiated in the 60’s [1], [2] and bringing radical innovations such as planar electrodes, Safran Electronics & Defense has successfully achieved a major technological breakthrough by developing and industrializing a navigation-grade Inertial Navigation System (INS) technology based on HRG Crystal™. Further optimization of the Cost Size Weight And Power (CSWAP) implies the development of a navigation grade MEMS gyroscope. Safran decided to take up the challenge. In this paper, we introduce a design evolution which has brought great performance results. While keeping an axisymmetric design and a fully balanced gyro mode [3], the innovation relies on electrostatic transducers now located between the vibrating masses. In the first part of this paper, we describe the key design rules and the innovation brought on electrostatic transducers location. The second part deals with the technological implementation of this new design on a silicon MEMS die. Finally, test results are presented with a special focus on performances under external vibrations.
赛峰电子与防务公司(Safran Electronics & Defense)延续了60年代[1]、[2]的开创性工作,并带来了平面电极等突破性创新,通过开发和产业化基于HRG Crystal™的导航级惯性导航系统(INS)技术,成功实现了重大技术突破。进一步优化成本、尺寸、重量和功耗(CSWAP)意味着开发导航级MEMS陀螺仪。赛峰集团决定接受挑战。在本文中,我们介绍了一种设计进化,它带来了很好的性能效果。在保持轴对称设计和完全平衡陀螺仪模式的同时[3],创新依赖于现在位于振动质量之间的静电换能器。在本文的第一部分中,我们描述了静电换能器位置的关键设计规则和带来的创新。第二部分讨论了这种新设计在硅MEMS芯片上的技术实现。最后,给出了测试结果,并特别关注了外部振动下的性能。
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引用次数: 3
Wobble Estimation of a Turntable axis by using an Inertial Measurement Unit 用惯性测量装置估计转台轴的摆动
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787757
Mehdi Bussutil, Bernard Vau, D. Ponceau, C. Pinzio
A novel method for the characterization of axis wobble in a turntable (motion simulator) is proposed. The procedure relies upon data provided by gyros of an inertial navigation unit mounted on the machine. By eliminating the effects due to gyros biases, Earth rotation and gyros misalignment it is possible to compute the wobble effect as a function of the angular position of the turntable axis. Experimental results are displayed. They show that this method can advantageously replace the classical wobble measurement based on the use of inclinometers.
提出了一种描述转台(运动模拟器)轴向摆动的新方法。该程序依赖于安装在机器上的惯性导航装置的陀螺仪提供的数据。通过消除由于陀螺仪偏差,地球旋转和陀螺仪错位的影响,可以计算作为转台轴角位置的函数的摆动效应。实验结果显示。结果表明,该方法可以很好地取代传统的基于测斜仪的摆动测量方法。
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引用次数: 1
Q-Learning-Based Noise Covariance Adaptation in Kalman Filter for MARG Sensors Attitude Estimation 基于q -学习的MARG传感器姿态估计卡尔曼滤波噪声协方差自适应
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787752
Xiang Dai, Vahid Nateghi, H. Fourati, C. Prieur
The attitude estimation of a rigid body by magnetic, angular rate, and gravity (MARG) sensors is a research subject for a large variety of engineering applications. A standard solution for building up the observer is usually based on the Kalman filter and its different extensions for versatility and practical implementation. However, the performance of these observers has long suffered from the inaccurate process and measurement noise covariance matrices, which in turn entails tedious parameter turning procedures. To overcome the laborious noise covariance matrices regulation, we propose in this paper a Q-learning-based approach to autonomously adapt the values of process and measurement noise covariance matrices. The Q-learning method establishes a reinforcement learning mechanism that forces the noise covariance matrices pair with the least difference between predictions and measurements of output to be found in a predetermined candidate set of noise covariance matrices. The effectiveness of the Q-learning approach, applied to Extended Kalman filter-based attitude estimation, is validated through the Monte Carlo method that uses real flight data on an unmanned aerial vehicle.
利用磁、角、重力传感器对刚体进行姿态估计是一个具有广泛工程应用价值的研究课题。建立观测器的标准解决方案通常是基于卡尔曼滤波器及其不同的扩展,以实现通用性和实用性。然而,这些观测器的性能长期受到不准确的过程和测量噪声协方差矩阵的影响,这反过来又需要繁琐的参数转换过程。为了克服噪声协方差矩阵调节的费力性,本文提出了一种基于q学习的方法来自主适应过程噪声协方差矩阵和测量噪声协方差矩阵的值。q -学习方法建立了一种强化学习机制,强制在预定的噪声协方差矩阵候选集中找到预测和输出测量之间差异最小的噪声协方差矩阵对。q -学习方法应用于基于扩展卡尔曼滤波的姿态估计,并通过蒙特卡罗方法验证了其有效性,该方法使用了无人机的真实飞行数据。
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引用次数: 1
Nanoresonator-based accelerometer with large bandwidth and improved bias stability 基于纳米谐振器的加速度计具有大带宽和改进的偏置稳定性
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787526
T. Miani, T. Verdot, A. Berthelot, F. Maspero, A. Koumela, P. Robert, G. Langfelder, J. Arcamone, M. Sansa
Resonant-beam accelerometers based on nanoresonators have demonstrated that reducing the size of the sensing element allows overcoming the sensitivity-bandwidth trade-off [1]. Here we report on an improvement of the performance of such sensors, through an enhancement of the wafer-level packaging (WLP). We perform a study of the different noise sources present in the system, and we show that an improvement of the vacuum level allows overcoming the thermomechanical noise of the proof mass which – so far – limited the previous generation of sensors.
基于纳米谐振器的谐振束加速度计已经证明,减小传感元件的尺寸可以克服灵敏度和带宽之间的权衡[1]。在这里,我们报告了通过提高晶圆级封装(WLP)来改进这种传感器的性能。我们对系统中存在的不同噪声源进行了研究,我们表明,真空水平的提高可以克服证明质量的热机械噪声,到目前为止,这种噪声限制了上一代传感器。
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引用次数: 0
Progress towards the development of a cold-atom inertial measurement unit for onboard applications 机载冷原子惯性测量装置的研制进展
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787521
J. Bernard, M. Cadoret, Y. Bidel, C. Salducci, N. Zahzam, Sylvain Schwartz, A. Bonnin, C. Blanchard, A. Bresson
In this paper we present our progress towards the development of a complete cold-atom Inertial Measurement Unit (IMU). Our goal is to have a single atomic sensor that will alternatively measure each inertial component (3 accelerations and 3 rotations). Every atomic measurement will be hybridized with a set of classical inertial sensors. Hybridization enables to combine the advantages of both technologies and to provide accurate continuous measurements with high dynamic range, in the scope of onboard inertial navigation compatibility.
本文介绍了完整的冷原子惯性测量单元(IMU)的研制进展。我们的目标是有一个单一的原子传感器,将交替测量每个惯性分量(3个加速度和3个旋转)。每个原子测量都将与一组经典惯性传感器相结合。杂交技术能够结合两种技术的优势,并在机载惯性导航兼容范围内提供高动态范围的精确连续测量。
{"title":"Progress towards the development of a cold-atom inertial measurement unit for onboard applications","authors":"J. Bernard, M. Cadoret, Y. Bidel, C. Salducci, N. Zahzam, Sylvain Schwartz, A. Bonnin, C. Blanchard, A. Bresson","doi":"10.1109/INERTIAL53425.2022.9787521","DOIUrl":"https://doi.org/10.1109/INERTIAL53425.2022.9787521","url":null,"abstract":"In this paper we present our progress towards the development of a complete cold-atom Inertial Measurement Unit (IMU). Our goal is to have a single atomic sensor that will alternatively measure each inertial component (3 accelerations and 3 rotations). Every atomic measurement will be hybridized with a set of classical inertial sensors. Hybridization enables to combine the advantages of both technologies and to provide accurate continuous measurements with high dynamic range, in the scope of onboard inertial navigation compatibility.","PeriodicalId":435781,"journal":{"name":"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130940961","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}
引用次数: 1
Real Time Q-Factor Mismatch Detection For Rate Integrating Gyroscope Using Amplitude Modulated Driving Signal 基于调幅驱动信号的速率积分陀螺仪实时q因子失配检测
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787723
T. Tsukamoto, Shuji Tanaka
In this paper, a real-time quality factor (Q-factor) mismatch detection method for a degenerated resonator used in quadrature frequency modulated (QFM) and rate integrating gyroscopes (RIG) was proposed and experimentally demonstrated. The amplitudes of the oscillation which is usually not used in the conventional QFM/RIG were used for the Qfactor mismatch detection. A dynamic mismatch compensation technique was developed to eliminate the Q-factor mismatch even in the transient state. By combining these methods, the Qfactor mismatch was successfully detected. The proposed method can be used in the QFM/RIG during measurement, because the amplitude modulation does not disturb the frequency and phase of oscillations.
提出了一种用于正交调频和积分速率陀螺仪(RIG)的退化谐振器的实时质量因子(q因子)失配检测方法,并进行了实验验证。在传统的QFM/RIG中通常不使用的振荡幅度被用于Qfactor失配检测。提出了一种动态失配补偿技术,以消除瞬态下的q因子失配。通过这些方法的结合,成功地检测出了Qfactor失配。该方法在QFM/RIG测量过程中,由于调幅不干扰振荡的频率和相位,可以应用于QFM/RIG。
{"title":"Real Time Q-Factor Mismatch Detection For Rate Integrating Gyroscope Using Amplitude Modulated Driving Signal","authors":"T. Tsukamoto, Shuji Tanaka","doi":"10.1109/INERTIAL53425.2022.9787723","DOIUrl":"https://doi.org/10.1109/INERTIAL53425.2022.9787723","url":null,"abstract":"In this paper, a real-time quality factor (Q-factor) mismatch detection method for a degenerated resonator used in quadrature frequency modulated (QFM) and rate integrating gyroscopes (RIG) was proposed and experimentally demonstrated. The amplitudes of the oscillation which is usually not used in the conventional QFM/RIG were used for the Qfactor mismatch detection. A dynamic mismatch compensation technique was developed to eliminate the Q-factor mismatch even in the transient state. By combining these methods, the Qfactor mismatch was successfully detected. The proposed method can be used in the QFM/RIG during measurement, because the amplitude modulation does not disturb the frequency and phase of oscillations.","PeriodicalId":435781,"journal":{"name":"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133986545","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}
引用次数: 0
Characterization of Mass-Loaded Silicon Nitride On-Chip Resonators for Traceable Sensing of Low Amplitude Acceleration 用于低振幅加速度可追踪传感的质量负载氮化硅片上谐振器的表征
Pub Date : 2022-05-08 DOI: 10.1109/INERTIAL53425.2022.9787524
Timothy Hodges, Lixue Wu, G. Mu, N. Snell, Alexandre Bouchard, Michel Stephan, Huang Huang, T. Koukoulas, Richard Green, R. St-Gelais
We report on the experimental characterization of a mass-loaded silicon nitride membrane-based resonator, which we investigate towards the development of accelerometers for small amplitude acceleration sensing at low frequencies. We experimentally demonstrate a ~1.1 ×10−6 kg proof mass system achieving a 17,950 mechanical quality factor for a 526 Hz natural resonance frequency, which compares favorably to other optically interrogated on-chip accelerometers [1]–[3]. The inferred acceleration noise floor of the device is currently limited by the displacement noise of the optical fiber displacement readout, yielding a noise amplitude spectral density of $1{{mu g/}}sqrt {{text{Hz}}} $ at 10 Hz.
我们报告了一个质量负载氮化硅膜谐振器的实验特性,我们研究了用于低频小幅度加速度传感的加速度计的发展。我们通过实验证明了1.1 ×10 - 6 kg proof质量系统在526 Hz自然共振频率下实现了17,950的机械质量因子,这与其他光学查询片上加速度计相比更具优势[1]-[3]。该装置的推断加速度噪声底目前受到光纤位移读出的位移噪声的限制,在10 Hz时产生的噪声振幅谱密度为$1{{mu g/}}sqrt {{text{Hz}}} $。
{"title":"Characterization of Mass-Loaded Silicon Nitride On-Chip Resonators for Traceable Sensing of Low Amplitude Acceleration","authors":"Timothy Hodges, Lixue Wu, G. Mu, N. Snell, Alexandre Bouchard, Michel Stephan, Huang Huang, T. Koukoulas, Richard Green, R. St-Gelais","doi":"10.1109/INERTIAL53425.2022.9787524","DOIUrl":"https://doi.org/10.1109/INERTIAL53425.2022.9787524","url":null,"abstract":"We report on the experimental characterization of a mass-loaded silicon nitride membrane-based resonator, which we investigate towards the development of accelerometers for small amplitude acceleration sensing at low frequencies. We experimentally demonstrate a ~1.1 ×10−6 kg proof mass system achieving a 17,950 mechanical quality factor for a 526 Hz natural resonance frequency, which compares favorably to other optically interrogated on-chip accelerometers [1]–[3]. The inferred acceleration noise floor of the device is currently limited by the displacement noise of the optical fiber displacement readout, yielding a noise amplitude spectral density of $1{{mu g/}}sqrt {{text{Hz}}} $ at 10 Hz.","PeriodicalId":435781,"journal":{"name":"2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115592271","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}
引用次数: 0
期刊
2022 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL)
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