Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Guerrier, Stéphane; Waegli, Adrian; Skaloud, Jan; Victoria‐Feser, Maria‐Pia

doi:10.1109/taes.2012.6237576

Cited by 45 publications

(24 citation statements)

References 36 publications

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“…The feedback required for implementation of these laws is standard measurements commonly used by other flight controllers [1], [27]. The negative definite property ofV in equation (24) implies that the value of the Lyapunov function candidate continuously decreases as long as s is non-zero. In other words, the position tracking errors and estimation errors are reduced until the position errors vanish.…”

Section: A Controller Designmentioning

confidence: 99%

Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects

Chirarattananon

2020

IEEE Trans. Robot.

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We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an object. The object, or payload, serves as the airframe of the vehicle. The modular design produces a highly versatile platform as it is reconfigurable by the addition or removal of flight modules, adjustment of the modules' arrangement, or change of payloads. To facilitate the flight control, we propose an IMU-based estimation strategy for rapid computation of the robot's configuration. When combined with the adaptive geometric controller for further refinement of uncertain parameters, stable flights are accomplished with minimal manual intervention or tuning required by a user. To this end, we demonstrate hovering and trajectory tracking flights through various robot's configurations with different dummy payloads, weighing ≈ 200 − 800 grams, using four to eight propelling modules. The results reveal that stable flights are attainable thanks to the proposed IMU-based estimation method. The flight performance is markedly improved over time through the adaptive scheme, with the position errors of a few centimeters after the parameter convergence.

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Section: A Controller Designmentioning

confidence: 99%

Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects

Chirarattananon

2020

IEEE Trans. Robot.

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“…Since the length of d c j is limited by the physical constraints such as the size of a sensor or circuitry board, it cannot be controlled to be ideally zero, and therefore the angle between d c j and h j should be zero to compensate the lever arm effect efficiently. That is, d c j should be linearly dependent on h j for every sensors as (18) …”

Section: B Constraints For Optimal Configuration Considering Lever Amentioning

confidence: 99%

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

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An optimal configuration for a redundant inertial measurement unit (RIMU) minimizing the lever arm effect and the constraints for the optimality are proposed. The proposed configuration provides the allocation of each sensor in an RIMU as well as the orientation, while conventional configurations, which do not consider the lever arm effect, suggest the orientation only. The orientation is fixed, so that the configuration may guarantee the best navigation performance, and the allocation of each sensor is determined for minimizing the lever arm effect and for the densest disposition of the structures. To qualify the navigation performance of a configuration, a novel figure of merit (FOM) indicating the worst navigation performance of an RIMU is proposed first. In general, an FOM, which indicates the averaged error covariance of all the estimation, is used as a navigation performance index. The proposed FOM, however, represents the worst error covariance, which contributes to the determination of a secure configuration against excessive noises. The optimal condition of the proposed FOM is also derived, in which case the proposed configuration guarantees the best navigation performance. Using the proposed FOM, the constraint for obtaining the optimal configuration, which guarantees the best navigation performance and minimizes the lever arm effect, is proposed. The effectiveness of the proposed method is confirmed via case studies and Monte Carlo simulations, which show that the RIMU with the proposed configuration sustains sufficiently high position accuracy in spite of the lever arm effect.Index Terms-Redundant sensors, figure of merit, navigation performance, lever arm effect, optimal configuration, allocation and orientation.

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“…Another possibility is to reduce the noise level of an integrated system by employing several IMUs in parallel (Waegli et al, 2010). Apart noise mitigation, this allows determination of the actual noise level that may vary in time (due to vibrations) as well as the possibility of detecting faults (Guerrier et al, 2012), which increases the redundancy of the system. Although an IMU of such type is employed in this study, the presented content uses data separately from its sub-system, i.e.…”

Section: Concepts Of Sensor Orientationmentioning

confidence: 99%

Applicability of New Approaches of Sensor Orientation to Micro Aerial Vehicles

Řehák¹,

Skaloud²

2016

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:This study highlights the benefits of precise aerial position and attitude control in the context of mapping with Micro Aerial Vehicles (MAVs). Accurate mapping with MAVs is gaining importance in applications such as corridor mapping, road and pipeline inspections or mapping of large areas with homogeneous surface structure, e.g. forests or agricultural fields. There, accurate aerial control plays a major role in successful terrain reconstruction and artifact-free ortophoto generation. The presented experiments focus on new approaches of aerial control. We confirm practically that the relative aerial position and attitude control can improve accuracy in difficult mapping scenarios. Indeed, the relative orientation method represents an attractive alternative in the context of MAVs for two reasons. First, the procedure is somewhat simplified, e.g. the angular misalignment, so called boresight, between the camera and the inertial measurement unit (IMU) does not have to be determined and, second, the effect of possible systematic errors in satellite positioning (e.g. due to multipath and/or incorrect recovery of differential carrier-phase ambiguities) is mitigated. First, we present a typical mapping project over an agricultural field and second, we perform a corridor road mapping. We evaluate the proposed methods in scenarios with and without automated image observations. We investigate a recently proposed concept where adjustment is performed using image observations limited to ground control and check points, so called fast aerial triangulation (Fast AT). In this context we show that accurate aerial control (absolute or relative) together with a few image observations can deliver accurate results comparable to classical aerial triangulation with thousands of image measurements. This procedure in turns reduces the demands on processing time and the requirements on the existence of surface texture. Finally, we compare the above mentioned procedures with direct sensor orientation (DiSO) to show its potential for rapid mapping.

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Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Cited by 45 publications

References 36 publications

Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects

Universal Flying Objects: Modular Multirotor System for Flight of Rigid Objects

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Applicability of New Approaches of Sensor Orientation to Micro Aerial Vehicles

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