DocumentCode :
2539742
Title :
Diagnosis of an Inertial Measurement Unit based on set membership estimation
Author :
Nguyen, H.V. ; Berbra, C. ; Lesecq, S. ; Gentil, S. ; Barraud, A. ; Godin, C.
Author_Institution :
Control Syst. Dept., Gipsa-Lab., St. Martin d´´Heres, France
fYear :
2009
fDate :
24-26 June 2009
Firstpage :
211
Lastpage :
216
Abstract :
This paper compares two diagnostic techniques applied to MEMS sensors of an Inertial Measurement Unit (IMU). The sensors considered in this study are a triaxis accelerometer and a triaxis magnetometer. Note that rate gyros measurements are not considered here. The goal of the IMU is to sense the attitude of a rigid body on which it is embedded. The measurement equations are non-linear in the attitude parameters which are first estimated from five over six measurements. Then, each measurement equation together with the estimated parameters, provides an predicted measurement. Lastly, the residual is computed and analyzed with a signature table to detect and isolate the fault. Two estimation techniques are implemented. The first approach is based on parameter estimation with nonlinear optimization technique while the second one makes use of set membership estimation. Both techniques are applied to the detection of faults in the IMU fixed on a quadrotor in quasi-static mouvement.
Keywords :
inertial navigation; microsensors; nonlinear programming; parameter estimation; MEMS sensors; gyros measurements; inertial measurement unit; measurement equations; nonlinear optimization technique; parameter estimation; quadrotor; quasi-static mouvement; set membership estimation; triaxis accelerometer; triaxis magnetometer; Accelerometers; Automatic control; Circuit faults; Fault detection; Magnetic sensors; Magnetometers; Measurement units; Micromechanical devices; Parameter estimation; Unmanned aerial vehicles; Fault detection; Fault diagnosis; Fault isolation; MEMS sensors; UAV Quadrotor; optimization; set membership estimation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
Type :
conf
DOI :
10.1109/MED.2009.5164541
Filename :
5164541
Link To Document :
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