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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; [email protected]
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
© Copyright 2011 MicroStrain Inc.
Before Correction After Correction
© Copyright 2011 MicroStrain Inc.
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
© Copyright 2011 MicroStrain Inc.
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?