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© Copyright 2011 MicroStrain Inc. High Performance Miniature Inertial Measurement Systems MicroStrain Inc Mike Robinson June 2011
© Copyright 2011 MicroStrain Inc. Inertial Sensors Accelerometer Inclinometer Gyroscope Magnetometer Inertial Measurement Unit (IMU) Vertical Gyro (VG) Attitude, heading reference sensor (AHRS)
© Copyright 2011 MicroStrain Inc. Inertial Measurement Unit (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) 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 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 Calibration
© Copyright 2011 MicroStrain Inc. Temperature 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. MicroStrain’s Inertial Products 3DM ®, 3DM-DH™ 3D-DH3™ 3DM-GX3™-25 3DM-GX3™-25-OEM 3DM-GX3™-35
© Copyright 2011 MicroStrain Inc. 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-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-GX3™ -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-GX3™ -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-GX3™ -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 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 Benefits Ideal for size and weight constrained applications
© Copyright 2011 MicroStrain Inc. Time Correlated Data
© Copyright 2011 MicroStrain Inc. Multi-Sensor Time Correlation using GPS UTC time
© Copyright 2011 MicroStrain Inc. New Application Programming Interface MIP 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 Features Single Byte Commands MIP
© Copyright 2011 MicroStrain Inc. Target Customers for 3DM-GX3- 35 Need attitude & location in smallpackage Include other inputs in custom Kalman filter Needs to “own” the Kalman filter
© Copyright 2011 MicroStrain Inc. Applications 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 phones
© Copyright 2011 MicroStrain Inc. nBot Balancing Robot Courtesy of David P. Anderson Providing data for the balance algorithm to maintain robot’s balance
© Copyright 2011 MicroStrain Inc. Autonomous Lawn Mower Courtesy of Ohio University Attitude and heading for mapping algorithm
© Copyright 2011 MicroStrain Inc. Head Tracking – flight simulator Courtesy of Ascension Technology 3DM-GX1 provides head tracking when optical sensor is out of range
© Copyright 2011 MicroStrain Inc. Quantification of Knee Kinematics
© Copyright 2011 MicroStrain Inc. Quantification of Knee Kinematics
© Copyright 2011 MicroStrain Inc. "Sixth Ring" Donor to 2008 US Olympic BMX Cycle Team
© Copyright 2011 MicroStrain Inc. Robotic Control
© Copyright 2011 MicroStrain Inc. Stabilization and Navigation of UAVs
© Copyright 2011 MicroStrain Inc. Navigation of Unmanned Vehicles
© Copyright 2011 MicroStrain Inc. Navigation and Attitude and of Unmanned Vehicles Courtesy of Department of Biology, Program in Cognitive Science, and the Interdisciplinary Robotics Research Laboratory, Vassar College, Poughkeepsie, NY 12604, USA
© Copyright 2011 MicroStrain Inc. Inertial Tracking of Vehicles – GPS Aiding Courtesy of School of Surveying and Spatial Information Systems, Australia
© Copyright 2011 MicroStrain Inc. NASA Tracks Ares Rocket Trajectory During Re-Entry
© Copyright 2011 MicroStrain Inc. Thank you Any Questions?
IMPROVE THE INNOVATION Today: High Performance Inertial Measurement Systems LI.COM.
Implementation of a Real-Time Attitude System for the Stabilization Control of a Quad-rotor Robot Sérgio Ronaldo Barros dos Santos (ITA-Brazil) Cairo Lúcio.
Parth Kumar ME5643: Mechatronics UAV ATTITUDE AND HEADING HOLD SYSTEM.
Crossbow Products Presented by: Stephen Justice. Topics Brief view of gyros Brief view of gyros A look at MEMS A look at MEMS The two types of sensors.
INEMO™ Demonstration Kit DOF (Degrees of Freedom) platform The STEVAL-MKI062V2 combines accelerometers, gyroscopes and magnetometers with pressure.
Use it Free: Instantly Knowing Your Phone Attitude Pengfei Zhou*, Mo Li Nanyang Technological University Guobin (Jacky) Shen Microsoft Research.
Matt McKeever Jonathan Baker UAV Design Team 11/16/2006
1. The Promise of MEMS to LBS and Navigation Applications Dr. Naser El-Shiemy, CEO Trusted Positioning Inc. 2.
An INS/GPS Navigation System with MEMS Inertial Sensors for Small Unmanned Aerial Vehicles Masaru Naruoka The University of Tokyo 1.Introduction.
Project Objectives Today’s GPS technology allow calculating and producing accurate positioning and tracking of the movement path in open environments.
Quadcopters A CEV Talk. Agenda Flight PreliminariesWhy Quadcopters The Quadcopter SystemStability: The NotionSensors and FusionControl AlgorithmsThe Way.
Intro to Inertial Elecia White Logical Elegance, Inc.
Inertial Navigation Systems and GPS Juan Jacobo Van der Dys April 20 th, 2005.
Development of Airborne Potassium Magnetometer Dr. Ivan Hrvoic, Ph.D., P.Eng. President, GEM Advanced Magnetometers Exploration 2007 & KEGS.
A Low-Cost and Fail-Safe Inertial Navigation System for Airplanes Robotics 전자공학과 깡돌가
Salim Modi, David Nguyen, Mitul Patel Virtual Environments Tracking Systems.
Georgia Tech Aerial Robotics Dr. Daniel P Schrage Jeong Hur Fidencio Tapia Suresh K Kannan SUCCEED Poster Session 6 March 1997.
1 st MEMS Commercial Tuning Fork Gyroscope Draper Labs M. Weinberg, J. Bernstein, S. Cho, A. T. King, A. Kourepenis, P. Ward, and J. Sohn, A micromachined.
Electrical and Computer Engineering SMART GOGGLES To Chong Ryan Offir Matt Ferrante James Kestyn Advisor: Dr. Tilman Wolf Preliminary Design Review.
The Research of a New Low-Cost INS/GPS Integrated Navigation Masaru Naruoka.
10/31/ Simulation of Tightly Coupled INS/GPS Navigator Ade Mulyana, Takayuki Hoshizaki October 31, 2001 Purdue University.
Adaptive Signal Processing Class Project Adaptive Interacting Multiple Model Technique for Tracking Maneuvering Targets Viji Paul, Sahay Shishir Brijendra,
December, Simulation of Tightly Coupled INS/GPS Navigator Ade Mulyana, Takayuki Hoshizaki December, 2001 Purdue University.
Karman filter and attitude estimation Lin Zhong ELEC424, Fall 2010.
LOGO FUFO project Final report 1. LOGO Contents Introduction 1 Hardware & Software 2 Algorithms 3 Experiments and results 4 2 Conclusion 5.
Magic Wand Battle Game Team 53 Shanoon Martin, Jialin Sun, Manfei Wu.
1. COMMUNICATION Liam O’Sullivan Used XBee RF 2.4 GHz modules for telemetry Point to point communication (platform and GCS) Disadvantages.
ARSF Data Processing Consequences of the Airborne Processing Library Mark Warren Plymouth Marine Laboratory, Plymouth, UK RSPSoc 2012 – Greenwich, London.
Reegan Worobec & David Sloan In collaboration with UAARG.
Development of a Fully Autonomous Micro Aerial Vehicle for Ground Traffic Surveillance Aerospace Systems, University of Braunschweig.
Localization Life in the Atacama 2004 Science & Technology Workshop January 6-7, 2005 Daniel Villa Carnegie Mellon Matthew Deans QSS/NASA Ames.
ATMOSPHERIC REENTRY TRAJECTORY MODELING AND SIMULATION: APPLICATION TO REUSABLE LAUNCH VEHICLE MISSION (Progress Seminar Presentation - 2) K. Sivan (Roll.
Company Presentation. Summary Unmanned Aerial Systems – Company Activities in the UAS field – SIXTON VTOL System Overview System Specifications System.
VR graphics.ssu.ac. kr 1 Ultrasonic Trackers Definition: A non-contact position measurement device that uses an ultrasonic signal produced by a stationary.
1. COMMUNICATION Liam O’Sullivan Control was off board (on the GCS) Used XBee ZigBee RF modules for telemetry Point to point communication.
1 SAE Aerospace Control and Guidance Systems, 2006 Lake Tahoe, NV 1-3 March 2006 Tye Brady The Inertial Stellar Compass (ISC) Tye Brady.
POLI di MI tecnicolano VISION-AUGMENTED INERTIAL NAVIGATION BY SENSOR FUSION FOR AN AUTONOMOUS ROTORCRAFT VEHICLE C.L. Bottasso, D. Leonello Politecnico.
Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley.
Tiltmeter, Compass,Temperature modules for the PPM.
Computer Vision Group Prof. Daniel Cremers Autonomous Navigation for Flying Robots Lecture 3.2: Sensors Jürgen Sturm Technische Universität München.
August, School of Aeronautics & Astronautics Engineering Optical Navigation Systems Takayuki Hoshizaki Prof. Dominick Andrisani.
Dr David C. Reid Dr Mark Dunn RDTG Operator’s Workshops Sept 2010 ACARP project C18023 CM2010 – Continuous Miner Automation.
Outline quad-copter Abstract Quad-Copter Movement Hand movement Hardware Implementation Quad-copter components Wireless hand gesture components: Software.
Next Generation Displacement Sensors Provide High Resolution in a Miniature Package MicroStrain Inc Mike Robinson
Collaboration Meeting at UCI, April 7-9, 2005 ANITA Navigation and Orientation Kurt Liewer.
DemoSat IV Critical Design Review Metropolitan State College of Denver April 21, 2006.
Thermal Camera Systems CHILI Jalapeno Habanero. 640 x µm HgCdTe (Mercury Cadmium Telluride) long-wave thermal Less Glint from water Low Life Cycle.
Final Report Idea and Overview 1 Scope 2 Hardware and software 3 Algorithm 4 Experiments & Results 5 Conclusion 6.
Method determinate angle of rotation of an IMU application for UAV Trinh Dinh Quan Southern TaiWan University.
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