Design and Implementation of a Multi-axis Inertial Measurement Unit
Date Issued
2009
Date
2009
Author(s)
Ho, Chi-Wei
Abstract
This thesis is focused on the design and analysis of a 9-axis and a 12-axis multi-axis nertial Measurement Units (IMU). Both systems are capable of deriving linear cceleration, angular acceleration and angular velocity via simple linear algebra without ny complicate differentiation or integration process. Comparing with the traditional IMU comprised of 3-axis accelerometers (measuring cceleration) and 3-axis gyros (measuring angular velocity), the proposed 9-axis IMU is omprised of 6-axis accelerometers and 3-axis gyros. The system has two advantages: irst, it doesn''t require accelerometer installation at the center of mass (COM) as in the raditional 6-axis IMU; second, it is capable of delivering angular acceleration imultaneously. The proposed 12-axis IMU is comprised of 12-axis accelerometers. The system not nly has the two advantages shown in the 9-axis system, but also simplifies design and aintenance of the mechatronic system due to its solo use of low-cost accelerometers ut no gyros which are difficult to calibrate, easy to saturate, and with higher price. The trade-off is the derivation of angular velocity through algorithm, not directly from gyro readings. The thesis includes the optimization of sensor allocation, the error analysis of sensor positions and orientations, and the calibration procedure to reduce the effect of orientation errors. In addition, the thesis includes the discussion of redundant systems (more than 12-axis). An bench-top apparatus with one rotational degree of freedom is developed as well and is utilized as the experimental platform to evaluate the performance of the proposed systems.
Subjects
IMU
accelerometer
gyro
linear acceleration
angular acceleration
angular velocity
Type
thesis
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