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Ultraflat Overrunable Carrier Presentation 3

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 IMU (Inertial Measurement Unit)

Generally, an inertial measurement system (IMS) uses a computer, motion sensors

(accelerometers) and rotation sensors (compasses, gyroscopes) to continuously calculate the
position, orientation, and velocity (direction and speed of movement) of a moving object
without the need for external references. The IMS is initially provided with its position and
velocity from another source (e.g. GPS satellite receiver), and thereafter computes its own
updated position and velocity by integrating information received from the motion sensors.
The advantage of an IMS is that it requires no external references in order to determine its
position, orientation, or velocity once it has been initialized. Other terms used to refer to
inertial measurement systems or closely related devices include inertial guidance system,
inertial reference platform, inertial instrument, inertial measurement unit and many other
variations.

An inertial measurement unit, or IMU, is an electronic device that measures and reports on a
vehicle’s velocity, orientation, and gravitational forces, using a combination of accelerometer,
gyroscope and compass. The sensor stick shown in Figure 1 is a very small sensor board with
nine degrees of freedom, namely translational motion along three spatial axes and rotational
motion about those three axes (i.e., roll, pitch and yaw). Advantages of using the SEN-10183
stick produced by Sparkfun Electronics include very low cost (about 63 ), very low power,
robustness and having all together you need in one layout board. This board includes the
ADXL345 accelerometer, the HMC5843 magnetometer, and the ITG-3200 gyroscope.

Figure 1: SEN-10183 sensor stick view

ADXL345 provided by Analog Devices is a small, thin, low power, 3-axis accelerometer with
high resolution (13-bit) measurement at up to +/- 16 g. Digital output data is formatted as 16-
bit twos complement and is accessible through either a SPI or I2C digital interface. Usually,
the ADXL345 is well suited vehicle applications. It measures the static acceleration of gravity
in sensing applications, as well as dynamic acceleration resulting from motion or shock. Its
high resolution (4 mg/LSB) enables measurement of inclination changes less than one degree.
Several special sensing functions are provided. For instance, activity and inactivity sensing
detect the presence of lack of motion and if the acceleration on any axis exceeds a user-set
level. Low power modes enable intelligent motion-based power management with threshold
sensing and active acceleration measurement at extremely low power dissipation. Some
applications include medical instrumentation, industrial instrumentation, personal navigation
devices, and hard disk drive protection.
 Table 1: ADXL345 features

Parameter Range

Ultra low power < 40 uA (measurement mode), 0.1 uA (standby mode)

Full resolution Up to 13-bit at +/- 16g (maintaining 4mg/LSB)

Communication protocol SPI (3- and 4-wire) and I2C digital interfaces

Temperature range -40 C to +80 C

Supply voltage range 2.0 V to 3.6 V

The Honeywell HMC5843 is a surface mount multi-chip module designed for low field
magnetic sensing with a digital interface for applications such as low cost compassing and
magnetometer. The HMC5843 includes state of the art 1043 series magneto-resistive sensors
plus Honeywell developed ASIC containing amplification, strap drivers, offset cancellation,
12-bit ADC and an I2C serial bus interface. Applications for the HMC5843 include Consumer
Electronics, Auto Navigation Systems, Personal Navigation Devices, and Magnetometers.
The sensor features precision in axis sensitivity and linearity, solid state construction with
very low cross axis sensitivity designed to measure both direction and magnitude of Earth’s
magnetic fields, from tens of micro-gauss to 6 gauss. Therefore, the HMC5843 is among the
most sensitive and reliable low-field sensors in the industry. Applications for the HMC5843
include Consumer Electronics, Auto Navigation Systems, Personal Navigation Devices, and
Magnetometers.
Table 2: HMC5843 features

Parameter Range

Low power 0.8 mA (measurement mode), 2.5 uA (standby mode)

Field range From -4 to 4 gauss

Communication protocol I2C digital interface

Temperature range -30 C to +85 C

Supply voltage range 2.5 V to 3.3 V

Resolution 7 milli-gauss

The ITG-3200 from InfoSense is the world’s first single-chip, digital-output , 3 –axis
gyroscope IC optimized. This device features enhanced bias and sensitivity temperature
stability, reducing the need for user calibration. Low frequency noise is lower than previous
generation devices, simplifying application development and making for more-responsive
remote controls. The ITG-3200 features three 16-bit analog-to-digital converters (ADCs) for
digitizing the gyro outputs, a user selectable internal low-pass filter bandwidth, and a fast
mode I2C (400 KHz) interface. Additional features include an embedded temperature sensor
and a 2 % accurate internal oscillator. This breakthrough in gyroscope technology provides a
package size reduction, delivers a 50 % power reduction, and has inherent cost advantages
compared to competing multi-chip gyro solutions.
 Table 3: ITG-3200 features

Parameter Range

Low power 6.5 mA (measurement mode) ), 5 uA (standby mode)

Sensitivity 14.375 LSB per degree/sec

Full-scale range +/- 2000 degree/sec

Communication protocol I2C digital interface

Temperature range -40 C to +85 C

Supply voltage range 2.1 V to 3.6 V

The system to read out data from IMU sensor requires several hardware components and
software programs. The key hardware components of this system are the dsPIC33
microcontroller mounted on the DSP Analog Prototyping Board and the sensor stick, as
illustrated in Figure 2. The dsPIC33 microcontroller made by Microchip is a 16-bit RISC
processor with support for digital signal processing (DSP) functions capable of executing
millions instructions per second and for relative ease of programming. Moreover, the dsPIC33
is extremely inexpensive and consumes little power for a controller with DSP functionality;
the additional capability of the dsPIC33 is used to process the data from the IMU sensor.
DSP Analog Prototyping Board

SEN-10183 Sensor Stick

Power Supply Connection

I2C Communication Protocol

Figure 2: Connection between the sensor and the prototyping board

For ease of use, the microcontroller was purchased already mounted on the DSP Analog
Prototyping Board. This development board offered all supporting circuitry for the
microcontroller as well as an assortment of LEDs, a serial port RS232, a character LCD, an
in-circuit debugger/programmer interface, and an audio input/output. Additionally, the
prototyping board includes an on-board 32 K external EEPROM and a SD card for
expandable memory. External memory allows the user to store audio files and configuration
data. The sensor stick is connected to the development board through four wires: two are for
power supply and the others two are assigned for I2C protocol communication with the
microcontroller. An SPI protocol is used for reading/writing data from sensor on SD card.
With the DSP Analog Prototyping Board, work on programming could begin quickly. The
microcontroller is programmed using embedded C and a development environment from CCS
called PCWHD is used. The C compiler supports most of the ANSI C specification and is
capable of generating compact and optimized code. The resulting compiled programs are
downloaded to the processor via the programming interface on the development board.

Raw data from all sensors is collected and in 2D (two dimensional) representation only the
following information from the sensor is needed:
- ADXL345 (accx, accy) (accelerations on x and y)
- ITG-3200 (angvelz) (angular velocity on z)
Positions and velocities are then calculated as follows:
Vx = ∫ accx ⋅ dt 1

Vy = ∫ accy ⋅ dt
Sx = ∫ Vx ⋅ dt
Sy = ∫ Vy ⋅ dt
Phiz = ∫ angvelz ⋅ dt
Integration of accelerometer and gyroscope data is performed using the trapezoidal rule.

In mathematics, the trapezoidal rule is an approximate technique for calculating the definite
integral of a function f(x) (see Figure 3).

f(b)

f(a)

0 a b x
Figure 3: Integration using the trapezoidal rule

The trapezoidal rule works by approximating the region under the graph of the function f(x)
as a trapezoid and calculating its area. It follows that
b
1 1 2
∫a f ( x) ⋅ dx = f (a) ⋅ (b − a) + 2 ⋅ (b − a) ⋅ ( f (b) − f (a)) = 2 ⋅ (b − a) ⋅ ( f (a) + f (b) )

The following variables are defined for the numerical integration calculation based on the
trapezoidal rule:
- accx[0], accy[0], accx[1], accy[1] previous and current accelerations
- angvelz[0], angvelz[1] previous and current angular velocities
- Vx[0], Vy[0], Vx[1], Vy[1] previous and current velocities
- Sx[0], Sy[0], Sx[1], Sy[1] previous and current positions
- Phiz[0] and Phiz[1] previous and current angular positions
Integration in discrete domain provide the positions and velocities of a 2D system
 Vx[1] = Vx[0] + (accx[0] + accx[1]) ⋅ 0.5 ⋅ Ts 3
Vy[1] = Vy[0] + (accy[0] + accy[1]) ⋅ 0.5 ⋅ Ts
Sx[1] = Sx[0] + (Vx[0] + Vx[1]) ⋅ 0.5 ⋅ Ts
Sy[1] = Sy[0] + (Vy[0] + Vy[1]) ⋅ 0.5 ⋅ Ts
Phiz[1] = Phiz[0] + (angvelz[0] + angvelz[1]) ⋅ 0.5 ⋅ Ts
where Ts is the sampling time.

Calibration routines for sensors are necessary to be implemented to get accurate data. For
ADXL345 the calibration routine removes the acceleration offset component in the sensor
output due to the earth’s gravity (static acceleration). It simply averages samples when the
accelerometer is in a no movement condition, the more samples that are taken, the more
accurate the calibration results will be. In a similar way, also a calibration routine for ITG-
3200 is implemented.

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