Mathematical Model of Nonorthogonal Measuring Instrument Based on Triaxial MEMS Gyroscopes
DOI:
https://doi.org/10.18372/1990-5548.70.16773Keywords:
сosine guides, inertial sensor, mathematical model, MEMS gyroscope, nonorthogonal measuring instrument, simulationAbstract
The paper deals with developing he mathematical model of nonorthogonal inertial measuring instrument based on triaxial MEMS gyroscopes. Both the model of the sensitive element and realization of the algorithm of transforming measurement information are represented. The model of the sensitive element takes into consideration measuring errors of typical MEMS gyroscope. The model is based on characteristics represented of technical description given by manufactures (Analog Device). The algorithm of information processing, which includes the restoration matrix, is developed. The table of direction guides is obtained. The effectiveness of the developed mathematical model is proved by using Simulink model, which takes into consideration elements inherent to real inertial measuring instruments. The results of researching accuracy and the possibility of increasing the dynamic range are represented.
References
A. J. Pejsa, “Optimum skewed redundant inertial navigators,” AIAA Journal, 1974, vol. 12 (7), pp. 899–902. https://doi.org/10.2514/3.49378
A. D. Epifanov, Nadezhnost' Sistem Upravleniya, Moscow: Mashinostroenie,1975, 144 p.
A. D. Epifanov, Izbytochnye sistemy upravleniya letatel'nymi apparatami, 1978, Moscow: Mashinostroenie, 178 p.
X. Dai, L. Zhao, and Z., Shi, “Fault tolerant control in redundant inertial navigation system”, Mathematical Problems in Engineering, 2013, pp. 1–11. https://doi.org/10.1155/2013/782617
R. H. Rogne, T. H. Bryne, T. H., Fossen, T. I., T.A. Johansen, “Redundant MEMS-based inertial navigation using nonlinear observers,” Journal of Dynamic Systems, Measurement, and Control, 2018, vol. 140 (7), 071001. https://doi.org/10.1115/1.4038647
J. W. Song and C. G. Park, “Optimal measurement device of redundant inertial sensors considering lever arm effect,” IEEE Sensors Journal, vol. 16 (9), pp. 3171–3180. https://doi.org/10.1109/JSEN.2015.2510545
M. Jafari, “Optimal redundant sensor measurement device for precision increasing in space inertial navigation system,” Aerospace Science and Technology, vol. 47, pp. 467–472. https://doi.org/10.1016/j.ast.2015.09.017
M. Jafari and J. Roshanian, “Optimal redundant sensor measurement device for precision and reliability increasing in space inertial navigation systems,” Journal of Navigation, vol. 66 (02), pp. 199–208. https://doi.org/10.1017/S0373463312000434
O. A. Sushchenko, Y.N. Bezkorovainyi, N.D. Novytska, “Nonorthogonal redundant measurement devices of inertial sensors,” Proceedings of 2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD), 2017 October, Kyiv, Ukraine, pp. 73-78. https://doi.org/10.1109/APUAVD.2017.8308780
V. Chikovani, O. Sushchenko, and H. Tsiruk, “Redundant information processing techniques comparison for differential vibratory gyroscope,” Eastern-European Journal of Enterprise Technologies, vol. 4 (7/82), pp. 45–52. https://doi.org/10.15587/1729-4061.2016.75206.
O. A. Sushchenko, Y. M. Bezkorovainyi, and V. O. and Golytsin, “Modelling of microelectromechanical inertial sensors”, Proceedings of 15th International Conference on the Experience of Designing and Application of CAD Systems, CADSM, February 26 – March 2, 2019, Lviv, Ukraine, pp. 23–27. https://doi.org/10.1109/CADSM.2019.8779286
Q. Lam, C. Wooddruff, N. Stamatakos, and S. Ashton, “Gyro modeling and estimation of its random noise source,” Proceedings of International Conference on AIAA Guidance, Navigation and Control, August 11 – 14, Austin, Texas, 2003, 10 p. https://doi.org/10.2514/6.2003-5562
Angle random walk. Access Mode: http://www.mmog-crossbow.com/Literature /Application_Notes_Papers/Angle_Rom_Walk_Estimation_for_Rate_Gyros.pdf
O. A. Sushchenko and Y.V. Beliavtsev, “Modelling of inertial sensors in UAV systems,” Proceedings of IEEE 4th International Conference on Actual Problems on Unmanned Aerial Vehicles Developments, October 17–19, 2017, Kyiv, Ukraine, pp. 130–133. https://doi.org/10.1109/APUAVD.2017.8308792
O. Sushchenko, Y. Bezkorovainyi, O. Salyuk, V. Golitsyn, Mathematical modeling of nonorthogonal measuring device, Proceedings of 11th International Conference on Advanced Computer Information Technologies ACIT, 2021, pp. 136–140. https://doi.org/10.1109/ACIT52158.2021.9548598
O. Sushchenko, Y. Bezkorovainyi, V. Colitsyn, F. Yanovsky, Modeling possibility to increase measuring range of MEMS inertial unit, Proceedings of IEEE 16th International Conference on the Experience of Designing and Application of CAD Systems, CADSM, 2021, pp. 10–14. https://doi.org/10.1109/CADSM52681.2021.9385260
Downloads
Published
Issue
Section
License
Authors who publish with this journal agree to the following terms:
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
