MEMS wheel sensor for vehicle navigation, ESC and adaptive suspension systems | Oleg Mezentsev | “iSense-SK” LLC | | September, 2015 |

Wheel IMU concept Low-cost MEMS unit Novel “carousing processing method” for long-term accurate 2D navigation in GNSS harsh environments “horseshoe” design - balanced and easy to install on a bike/motorbike axle via an additional mounting fixture; size and volume can be dramatically decreased for specific client applications

What is a wheel IMU Inertial MEMS gyros and accelerometers on the wheel Battery powered (energy harvesting) Bluetooth (or similar) data transfer to onboard computer Rotation of the wheel - free source of constant “calibration” “Calibration” is a novel carousing algorithm that outputs unbiased heading and roll wheel angles and centripetal accelerations of each wheel where it is installed

Real-time prototype

Real-time prototype Bluetooth: Stollmann BlueMod+SR Processor: Atmel SAM4S16B Embedded software: C/C++ (Rowley CrossWorks) In-vehicle computer (Android tablet): Java (Android Studio) Wheel IMU - onboard tablet communication: BT4.0 Wheel IMU raw data is recorded on miсroSD card.

Markets for wheel IMU autonomous vehicular navigation: accurate and yet low-cost addition to INS/GPS/LiDAR/Radar systems container handling machines operated in harsh GNSS environments; mining and warehouse (storage) machines for improved logistics raw data from wheel: vehicle ESC; monitoring of expensive tires wear, adaptive suspension

Early prototype tests: no ZUPTs, GPS as reference conditions: driving up to 30 km/hour, 30 minutes. Final 2D error: less than 100 meters Wheel IMU

Early prototype tests: no ZUPTs, GPS as reference Green - DGPS Blue - wheel IMU Red - gyro + odometer 13 minutes run; speed up to 40 km/h final error: <40 meters

Motorcycle traction control? Yes! Bosch Engineering is actively developing a traction control systems for motorbikes unbiased wheel heading and roll angles, coupled with centripetal accelerations - essential information for reliable traction control picture above is from Youtube video “2013 Bosch Motorcycle Traction Control 'Acceleration out of a corner' promotional video” - http://www.youtube.com/watch?v=ZQiLgfaBSPM

Radius and center of curvature estimation

Why is it better than other systems/methods? Classical INS/GNSS with vehicle dynamic models: either too expensive for many markets or small accuracy when GNSS is not available Odometer + vertical gyro: limited accuracy of differential odometers; odometers not always available; quickly growing errors from gyro bias We propose something new - no one ever explored and came up with a method of significantly improving MEMS sensor performance installing them right on vehicle wheels New markets and new technology will develop!

Contacts We look for partners, customers, investors and anyone who wants to know and explore more of this new, emerging technology! Oleg Mezentsev oleg.mezentsev@gmail.com +1.403.519.4668 Jussi Collin cto@inertial.fi +358.40.717.7573 www.isense-sk.ru