Název:	Hardware support for research of the sensor fusion of inertial sensors
Autoři:	Andel, Ján Šimák, Vojtěch
Citace zdrojového dokumentu:	2022 International Conference on Applied Electronics: Pilsen, 6th – 7th September 2022, Czech Republic, p. 15-18.
Datum vydání:	2022
Nakladatel:	Fakulta elektrotechnická ZČU
Typ dokumentu:	konferenční příspěvek conferenceObject
URI:	http://hdl.handle.net/11025/49842
ISBN:	978-1-6654-9482-3
Klíčová slova:	MSE;IMU;fúze dat;senzory;chyba
Klíčová slova v dalším jazyce:	MSE;IMU;data fusion;sensors;error
Abstrakt v dalším jazyce:	The aim of this paper was to propose a design of a module that has several inertial sensors of the same type in order to test various approaches of homogeneous sensor fusion. According to the statistics the mean of readings from the same- type sensors should have higher precision than a single sensor.However, this statement is not always correct for real sensors, as identical sensors may not have the same error characteristics. Sensor manufacturers state the typical sensor RMS (root mean square) error, the actual sensor RMS error can differ significantly from piece to piece. When averaging a sensor output from the same manufacturer, we can under certain conditions, obtain a worse value than the output error of the best sensor. This error can be eliminated by fusing the sensors using weighing. To verify this statement, we decided to assemble with as many identical sensors as possible. The IMU (inertial measurement unit) sensor, which measures acceleration, angular acceleration, and magnetic field in three axes, was chosen as the sensor for the variety of measurements. Thanks to this, we can compare up to 9 different outputs at the same time. In the end, we designed a module that has 16 IMUs. As the number of sensors increases, the resulting error decreases on average. However, weighting based on calibration errors did not prove to be the optimal solution because the sensors contain not only stochastic but also systematic errors. The module designed by us will be used mainly for further scientific research in the field of IMU sensor fusion in order to reduce the error.
Práva:	© IEEE
Vyskytuje se v kolekcích:	Applied Electronics 2022 Applied Electronics 2022

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