© Copyright 2011 MicroStrain Inc. High Performance Miniature Inertial Measurement Systems...

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© Copyright 2011 MicroStrain Inc.

High Performance High Performance Miniature Inertial Miniature Inertial

Measurement Systems Measurement Systems

MicroStrain IncMike Robinson

www.microstrain.com; mirobinson@microstrain.com

June 2011

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

Robotic CalibrationRobotic Calibration

© Copyright 2011 MicroStrain Inc.

Temperature CalibrationTemperature Calibration

© Copyright 2011 MicroStrain Inc.

W

Before Correction After Correction

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Before Correction After Correction

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Magnetometer bias is inherently temperature compensated in hardware

Before Correction After Correction

© Copyright 2011 MicroStrain Inc.

MicroStrainMicroStrain’’s Inertial s Inertial ProductsProducts

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

3DM-DH3DM-DH™™

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

Time Correlated DataTime Correlated Data

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

MIP FeaturesMIP FeaturesMIP FeaturesMIP Features

Single Byte CommandsSingle Byte Commands

MIPMIP

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

IMI decoy drone

Smartphones

Applications – Drones to Applications – Drones to phonesphones

© Copyright 2011 MicroStrain Inc.

nBot Balancing RobotnBot Balancing Robot

Courtesy of David P. Anderson

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

© Copyright 2011 MicroStrain Inc.

Autonomous Lawn MowerAutonomous Lawn Mower

Courtesy of Ohio University

Attitude and heading for mapping algorithm

© Copyright 2011 MicroStrain Inc.

Head Tracking – flight Head Tracking – flight simulatorsimulator

Courtesy of Ascension Technology

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

© Copyright 2011 MicroStrain Inc.

Quantification of Knee Quantification of Knee KinematicsKinematics

© Copyright 2011 MicroStrain Inc.

Quantification of Knee Quantification of Knee KinematicsKinematics

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

Robotic ControlRobotic Control

© Copyright 2011 MicroStrain Inc.

Stabilization and Navigation of Stabilization and Navigation of UAVsUAVs

© Copyright 2011 MicroStrain Inc.

Navigation of Unmanned Navigation of Unmanned VehiclesVehicles

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

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

Courtesy of School of Surveying and Spatial Information Systems, Australia

© Copyright 2011 MicroStrain Inc.

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

© Copyright 2011 MicroStrain Inc.

Thank youThank you

Any Questions?Any Questions?