Master Course 2015/15

Inertial Sensors
• Definitions
• Levels-Inclinometer
• Principle & design
• Applications

• Inertial Sensors
• Principle & design
• Applications

• Gyros
• Principle & design
• Applications
 Gravity Model of the Earth

ESA's GOCE mission has delivered the most accurate model of the 'geoid' ever produced. Red corresponds to points
with higher gravity, and blue to points with lower gravity. Credit: ESA/HPF/DLR
 Angular Velocity and Gravity of the
Earth

gP

https://de.wikipedia.org/wiki/Datei:Orthodromic_air_route.tif

gP : gravity 9,81m/s2
For small areas we are working
2D = in a horizontal plane

Works in most deformation

monitoring

Is not working in precise levelling

Inclinometer
&
Inclination

The inclination α is the angle between the

horizontal axis A-A and the inclined axis B-B

B
plumb line
α
A A

B
Vials, levels
• Spirit levels
(1) Tubelar levels
(2) Circular -, bubble levels

• Electronical levels
(1) Pendelum type
(2) Liquid systems
(3) Servo systems
Definitions
2mm = 1 pars
Pars = ligne Paris= ´Pariser Linie´
= 2,256mm

Since approx. 1920: 1 Pars = 2mm

In Germany:
Old levels: etched division (depression in the glass)
New levels: screen printing (sublime)

The ´Libellenangabe´= level indication is the angle amount

by which the level has to be inclined to obtain a bubble
amount of 2 mm.
Design of inclinometers

• Historical designs
• Machinist´s level
• Coincidence level
• Geodesy
• Adjustable fixing
• Tilt level
• Hanging level = Hängelibelle
• Chamber level = Kammerlibelle
• compensators
• Elektronical levels
Cut radius of tubelar levels
20“= 0,1 mm/m Mecanical Engineering etc. definition
mm/m
1“ = 5µm/m

α= 5“ 20“ 45“

R= 82,5m 20,6m 9,2m

Tubelar level

R = cut radius in m

2mm = 1 pars
Tubelar level

Machinelevel with graduated circle

https://www.contorion.de/p/ks-tools-wasserwaage-mit-rahmen-200-mm-

Machinelevel
Beispiel Dosenlibelle
Beispiel Röhrenlibelle
Spezielle Justierung
´Electronicalized´ Level
Quelle: Leica whitepaper
Quelle: Leica whitepaper
Quelle: Leica whitepaper
gravity In vector description with the true
gravity g and the measured
& acceleration a, the inclination
αlpha=α can be found by:
Inclination α = arcsin(a/g)

B Sensor input axis B - B

Horizontal A - A
α
A A

Gravity vector g α

B
a = g * sin α
Other sensors
+ MEMS

-Micro-electronic-mechanic-sensor

-3 axis accelerometer
-3 axis angular rate sensor
-3 axis magnetic field sensor
+
-GPS multichannel antenna/receiver
-Altimeter/Barometer
-Camera
Other sensors
+ MEMS

+ SMARTPHONE
 INTERIOR of IPHONE 6

QUELLE:
https://www.chipworks.com/about-chipworks/overview/blog/comparing-invensense-and-bosch-accelerometers-
found-iphone-6
IPHONE 6 Sensors

The InvenSense Device InvenSense MPU-6500

•The InvenSense device can operate as a six axis inertial sensor, or as either a three-axis gyroscope or
a three-axis accelerometer.  It is rated to consume 3.4 mA in the six-axis mode, 3.2 mA in the
gyroscope mode and 450 µA in the accelerometer normal mode.  By contrast, the Bosch device
operates as a 3-axis accelerometer only and it consumes 130 µA of current in the accelerometer normal
mode.  Both devices offer two low power levels of operation for the accelerometer function.  The
InvenSense device actually consumes less current in its lowest power mode, with a 1 Hz update rate.
•The main benefit of the InvenSense is full six-axis integration of the data by the on-chip digital motion
processor (DMP). This will provide a direct benefit for gaming and other applications that need
sophisticated inertial sensing capabilities. In addition the InvenSense provides significantly higher
sensitivity than the Bosch device. The price however, is higher power consumption.
•The Bosch Device Bosch BMA280
•The Bosch device, on the other hand, operates at lower power and has much faster start up time. The
Bosch device will be used in situation where full six-axis integration is not required and where lower
sensitivity is acceptable, for example for purposes such as screen orientation and pedometer
functionality.
•The integration of two accelerometers into the iPhone 6 is another example of Apple's elegant
engineering. The phone would have worked with just the InvenSense device, but since not all
applications require the higher sensitivity and full six-axis integration, Apple added the Bosch device,
which allows them to lower the power consumption while still providing a good user experience.

•QUELLE: https://www.chipworks.com/about-chipworks/overview/blog/comparing-invensense-and-
bosch-accelerometers-found-iphone-6
Parameter Bosch BMA280 InvenSense MPU- Units
6500
ADC range 14 16 bit
Acceleration range ±2, ±4, ±8, ±16 ±2, ±4, ±8, ±16 g

Maximum sensitivity 4096 16684 LSB/g

Temperature sensitivity 0.015 0.026 %/K

Cross axis  sensitivity 1 2 %

Nonlinearity 0.5 0.5 %

Output data rate 2000 4000 Hz
Cold start up time 3 30 ms

Sleep mode start up 1 20 ms

time
Accelerometer start up 1.3 20 ms
time from sleep mode

Accelerometer supply 130 450 µA

current in normal mode

Accelerometer supply 6.5 7.27 µA

current in low power
mode 1

Accelerometer supply 66 18.65 µA

current in low power
mode 2

Sleep mode current 2.1 6 µA

Calculation of orientation

Source:
https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMA253-DS000-01.pdf
Test
Rail
 MEMS-IMU IPHONE

MEMS-IMU SBG

LEVEL LEICA DNA03

Concept MEMS-Measurement:
+ subdivision of rail in constant 110mm parts

+ Integration period min. 15sec

+ offset detection by measurement in 2 faces

GYROSCOPIC SENSORS
North Finding
Mechanical
–gimbaled (in motion)

–tape suspended (static)

Electronical

-ringlaser gyro

-fiberoptic gyro

-MEMS mech./electr.
IMU =
Inertial Measurement Unit
9 degree of freedom IMU in MEMS
technology

+3 accelerometer axis
+3 angular velocity axis
+3 magnetic field axis
= 1 Chip
Classes of IMU
platform +Sensors on a gimbaled platform;
-rotation of carrier is decoupled!

+Sensors ´strapped´ to carrier;

´strap´-down
- rotations and angular velocity of
the carrier must be covered by the
sensor working range!

+Sensors included in 1 chip (quarz structure;

MEMS
-rest like ´strapdown´ technology
Hybrid Navigation
IMU+GPS
 Spring-mass system

F
M

Plumb line = vertical

dL Sensing element M = mass

F=M*g

A mass element in the gravity field is forced to orientate in the vertical plumb line

Different sensing elements are known: spring/mass; pendulum; liquid; wire; quarz

Usually the movement of the mass is detected by coils, optical, resistance or capacity sensors

For precise measurements there is a need to stabilize the mass and arrange a damping device
 Spring-mass system

F
M

Plumb line = vertical

dL Sensing element M = mass

F=M*g

IMPORTANT:

the determination of the inclination is only possible in static use!

Navigation and Stearing

Acceleration a measured Acceleration in [m/s2]

Integration

Velocity in [m/s]

Integration

Distance in [m]
Navigation and Stearing

Example: MICRO-Tunneling

Stearing in:
1. direction
2. height
 Navigation and Stearing

Example: MICRO-Tunneling
Surface net points plumbed down

Stearing in:
1. direction
2. height