© copyright 2011 microstrain inc. high performance miniature inertial measurement systems...

© Copyright 2011 MicroStrain Inc.

High Performance High Performance Miniature Inertial Miniature Inertial

Measurement Systems Measurement Systems

MicroStrain IncMike Robinson

www.microstrain.com; [email protected]

June 2011


Inertial SensorsInertial Sensors• Accelerometer• Inclinometer• Gyroscope• Magnetometer• Inertial Measurement Unit (IMU)• Vertical Gyro (VG)• Attitude, heading reference sensor (AHRS)


Inertial Measurement Unit Inertial Measurement Unit (IMU)(IMU)

• 6 degrees of freedom (DOF)• Combines 3 accelerometers and 3

gyroscopes• Outputs 3 linear accelerations and 3

angular rates• Used for positioning


Vertical Gyro (VG)Vertical Gyro (VG)

• Outputs gyro stabilized pitch and roll for dynamic applications

• Combines 2 accelerometers and two gyros

• Used for dynamic leveling/platform stabilization


Attitude, Heading Reference Attitude, Heading Reference Sensor (AHRS)Sensor (AHRS)

• Combines 3 accelerometers, 3 gyros and 3 magnetometers

• Outputs pitch, roll and yaw, Quaternion, orientation matrix

• Used for navigation


Robotic CalibrationRobotic Calibration


Temperature CalibrationTemperature Calibration


W

Before Correction After Correction


Magnetometer bias is inherently temperature compensated in hardware



MicroStrainMicroStrain’’s Inertial s Inertial ProductsProducts

• 3DM ®, 3DM-DH™• 3D-DH3™• 3DM-GX3™-25• 3DM-GX3™-25-OEM• 3DM-GX3™-35


3DM 3DM ®®

• Inclinometer/compass for static/quasi static applications

• Pitch, roll, yaw• Outputs Euler angles• Range: ±90° pitch,

±180° roll and yaw• Sample rate 30 to 70 Hz

(depending on output mode)• Resolution 0.1° • Accuracy: ±0.9° pitch,

±0.9° roll, ± 1.0° yaw• RS232 or RS485 output


3DM-DH3DM-DH™™

• Same as 3DM but designed for down-hole applications


3DM-DH3™• Integrated into downhole

tools• Outputs acceleration and

magnetic field vectors plus temperature; orientation angles plus temperature

• 24 bit A/D for accelerometers. 16 bit A/D for magnetometers

• Range 360° in three axes• Accuracy: 0.2° inclination,

0.5° Azimuth• Resolution 0.02°• Stand alone datalogger or

tethered for real-time data• Stores up to 32,768 data

records• Temp range -40°C to 125°C• RS422


3DM-GX33DM-GX3™™ -25 -25• AHRS for dynamic

applications• Smallest, lightest AHRS on

the market today• Vertical gyro and IMU modes • Outputs Euler angles,

acceleration/angular rate, deltaAngle/deltaVelocity

• Sensors oversampled at 30 kHz, filtering, coning and sculling 1 kHz

• Output rate up to 1000 Hz• Range 360° in three axes• Resolution 0.1°• Accuracy ±0.5 to 2°• USB 2.0, RS232 and RS422


3DM-GX33DM-GX3™™ -25-OEM -25-OEM• AHRS for dynamic

applications• Smallest, lightest AHRS on

the market today• Vertical gyro and IMU modes • Outputs Euler angles,

acceleration/angular rate, deltaAngle/deltaVelocity

• Sensors oversampled at 30 kHz, filtering, coning and sculling 1 kHz

• Output rate up to 1000 Hz• Range 360° in three axes• Resolution 0.1°• Accuracy ±0.5 to 2°• TTL Serial


3DM-GX33DM-GX3™™ -35 -35• Integrated AHRS and GPS

for dynamic applications• Smallest, lightest system

on the market today• Outputs time correlated

GPS and inertial data with common time stamp

• Inertial data output rate up to 1000 Hz, GPS data output rate up to 5Hz

• Uses 3DM-GX3-25 inertial sensor core

• MIP protocol enables user to chose data quantities and sample rates

• USB 2.0 or RS232


Key Features and BenefitsKey Features and Benefits• Includes AHRS and GPS in small,

lightweight package• Time correlated data with common

timestamp• High data rates for inertial data – up to

1kHz• Powerful New API• Low cost


Key Features and BenefitsKey Features and BenefitsIdeal for size and weight constrained applications


Time Correlated DataTime Correlated Data


Multi-Sensor Time Correlation Multi-Sensor Time Correlation using GPS UTC timeusing GPS UTC time


New Application Programming New Application Programming InterfaceInterface

New Application Programming New Application Programming InterfaceInterface

MIPMIP• Accommodates data from multiple

subsystems• Will be used in future products• Packet protocol—Improved data integrity• Real benefit: User gets what they want


MIP FeaturesMIP FeaturesMIP FeaturesMIP Features

Single Byte CommandsSingle Byte Commands

MIPMIP


Target Customers for 3DM-Target Customers for 3DM-GX3-35GX3-35

•Need attitude & location in smallpackage•Include other inputs in custom Kalman filter•Needs to “own” the Kalman filter


ApplicationsApplications • Platform stabilization• Navigation of unmanned vehicles• Biomedical research• Sports training and enhancement• Mapping – agricultural, fleet management, motor racing• Vehicle dynamics studies• Antenna pointing• Oceanography – wave height• Inertial tracking• GPS aiding• Robotic control• Manufacturing – calibration of high tech devices (smartphones, etc)

product dynamics


IMI decoy drone

Smartphones

Applications – Drones to Applications – Drones to phonesphones


nBot Balancing RobotnBot Balancing Robot

Courtesy of David P. Anderson

Providing data for the balance algorithm to maintain robot’s balance


Autonomous Lawn MowerAutonomous Lawn Mower

Courtesy of Ohio University

Attitude and heading for mapping algorithm


Head Tracking – flight Head Tracking – flight simulatorsimulator

Courtesy of Ascension Technology

3DM-GX1 provides head tracking when optical sensor is out of range


Quantification of Knee Quantification of Knee KinematicsKinematics


"Sixth Ring" Donor to 2008 US Olympic "Sixth Ring" Donor to 2008 US Olympic BMX Cycle TeamBMX Cycle Team


Robotic ControlRobotic Control


Stabilization and Navigation of Stabilization and Navigation of UAVsUAVs


Navigation of Unmanned Navigation of Unmanned VehiclesVehicles


Navigation and Attitude and of Navigation and Attitude and of Unmanned VehiclesUnmanned Vehicles

Courtesy of Department of Biology, Program in Cognitive Science, and the Interdisciplinary Robotics ResearchLaboratory, Vassar College, Poughkeepsie, NY 12604, USA


Inertial Tracking of Vehicles – Inertial Tracking of Vehicles – GPS AidingGPS Aiding

Courtesy of School of Surveying and Spatial Information Systems, Australia


NASA Tracks Ares Rocket Trajectory NASA Tracks Ares Rocket Trajectory During Re-EntryDuring Re-Entry


Thank youThank you

Any Questions?Any Questions?

© copyright 2011 microstrain inc. high performance miniature inertial measurement systems...

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