Stationary State Recognition of a Mobile Platform Based on 6DoF MEMS Inertial Measurement Unit
Source abstract
Abstract
The article presents the analytic method for real-time detection of the stationary state of a vehicle based on information retrieved from 6 DoF IMU sensor. Reliable detection of stillness is essential for the application of resetting the inertial sensor’s output bias, called Zero Velocity Update method. It is obvious that the signal from the strapped on inertial sensor differs while the vehicle is stationary or moving. Effort was then made to find a computational method that would automatically discriminate between both states with possibly small impact on the vehicle embedded controller. An algorithmic step-by-step method for building, optimizing, and implementing a diagnostic system that detects the vehicle’s stationary state was developed. The proposed method adopts the “Mahalanobis Distance” quantity widely used in industrial quality assurance systems. The method transforms (fuses) information from multiple diagnostic variables (including linear accelerations and angular velocities) into one scalar variable, expressing the degree of deviation in the robot’s current state from the stationary state. Then, the method was implemented and tested in the dead reckoning navigation system of an autonomous wheeled mobile robot. The method correctly classified nearly 93% of all stationary states of the robot and obtained only less than 0.3% wrong states.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Inertial Sensor and Navigation · Astronomical Observations and Instrumentation · Space Satellite Systems and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Technical Computer Science, Lublin University of Technology, Nadbystrzycka 36, 20-618 Lublin, Poland
Department of Mechanical Engineering and Automation, Faculty of Production Engineering, University of Life Sciences in Lublin, 28 Głęboka St., 20-612 Lublin, Poland
Department of Automation, Lublin University of Technology, Nadbystrzycka 36, 20-618 Lublin, Poland
Faculty of Mechanical Engineering, Casimir Pulaski Radom University, Stasieckiego 54-B1, 26-600 Radom, Poland
Institute of Mechanical Science, Faculty of Mechanics, Vilnius Gediminas Technical University, Sauletekio al. 11, LT-10223 Vilnius, Lithuania
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