IMU 1 MicroElectroMechanical Systems (MEMS) Inertial Measurement Unit (IMU) Attitude relative to gravity vector Magnetic heading Rotational velocity Translational.

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Presentation transcript:

IMU 1 MicroElectroMechanical Systems (MEMS) Inertial Measurement Unit (IMU) Attitude relative to gravity vector Magnetic heading Rotational velocity Translational acceleration

IMU 2 Absolute rotational attitude of object Direct measurement of angular velocity Direct measurement of translational acceleration Positives

IMU 3 Does not provide – absolute location translational velocity rotational acceleration Data communication Medium resolution < 150 Hz Negatives

IMU 4 Vehicle navigation Intercontinental ballistic missiles (ICBM) Nuclear submarines Cruise missiles MEMS Automotive Consumer products History of IMUs

IMU 5 Automotive Accelerometers to deploy airbags Vehicle roll handling MEMS IMUs - Automotive

IMU 6 Games (WiiMote) PDA (iPhone) Camera stabilization Hard disks MEMS IMUs – Consumer Products

IMU 7 MEMS Fabrication

IMU 8 acceleration gravity MEMS accelerometer (proof mass)

IMU 9 MEMS Comb Sensor/Drive

IMU 10 MEMS Differential Capacitance

IMU 11 MEMS Differential Capacitance

IMU 12 MEMS accelerometer

IMU 13 MEMS gyro (torsion)

IMU 14 MEMS gyro (planar)

IMU 15 MEMS magnetometer (magnetoresistive)

IMU 16 Signal Analog voltage (0 to 3V) Fixed frequency, variable duty cycle Digital (internal A/D converter) Nominal Bandwidth 550 Hz for accelerometer 150 Hz for gyro 50 Hz for magnetometer MEMS IMU Outputs

IMU 17 Biaxial accelerometer Uniaxial gyro Two-Dimensional (2D) IMU

IMU 18 Triaxial accelerometer Triaxial gyro Triaxial magnetometer Required to determine spin about gravity vector Three-Dimensional (3D) IMU axax ayay azaz

IMU 19 Triaxial accelerometer ±3g, 300 mV/g, 550 Hz Triaxial gyro ±300 deg/sec (dps), 3.3mV/dps, 140 Hz Triaxial magnetometer 50 Hz On-board CPU, serial I/O 9DOF Board – Sparkfun

MEMS IMU 20 Triaxial accelerometer ±2g, ±4g, ±8g and ±16g Triaxial gyro ±250, ±500, ±1000, and ±2000dps Triaxial compass On-board motion fusion, I 2 C serial 9DOF Chip – Invensense MPU-9150