© 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?