Mining machine orientation control based on inertial, gravitational, and magnetic sensors

by John J. Sammarco

Publisher: U.S. Dept. of the Interior, Bureau of Mines in Washington, D.C

Written in English
Published: Pages: 23 Downloads: 714
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Subjects:

  • Coal-mining machinery -- Automatic control.,
  • Navigation -- Data processing.

Edition Notes

Includes bibliographical references (p. 21).

Statementby John J. Sammarco.
SeriesReport of investigations ;, 9326, Report of investigations (United States. Bureau of Mines) ;, 9326.
Classifications
LC ClassificationsTN23 .U43 no. 9326, TN813 .U43 no. 9326
The Physical Object
Paginationii, 23 p. :
Number of Pages23
ID Numbers
Open LibraryOL1850605M
LC Control Number90002101

Abstract: Measurements from magnetometers and inertial sensors (accelerometers and gyroscopes) can be combined to give 3D orientation estimates. In order to obtain accurate orientation estimates it is imperative that the magnetometer and inertial sensor axes are aligned and that the magnetometer is properly calibrated for both sensor errors as well as presence of magnetic distortions. Qiu, Sen and Wang, Zhelong and Zhao, Hongyu and Qin, Kairong and Li, Zhenglin and Hu, Huosheng () 'Inertial/magnetic sensors based pedestrian dead reckoning by means of multi-sensor fusion.' Information Fusion, - Cited by: Mar 15,  · Cutti A, Ferrari A, Garofalo P, Raggi M, Cappello A, Ferrari A () Outwalk: a protocol for clinical gait analysis based on inertial and magnetic sensors. Med Biol Eng Comput 48(1)–25 PubMed CrossRef Google ScholarCited by: The objectives of the current study are to perform a series of experiments using a network of miniature wireless inertial and magnetic sensors, in conjunction with a data processing protocol, proposed by Seel et. al () and described in detail in the following chapters, in order to validate the system for use in a non-laboratory based.

EE Virtual Reality Course Notes: 3-DOF Orientation Tracking with IMUs Gordon Wetzstein [email protected] This document serves as a supplement to the material discussed in lectures 9 and The document is not meant to be a comprehensive review of orientation tracking for virtual reality applications but rather an intuitive. Robot Motion Trajectory-Measurement with Linear Inertial Sensors Bernard Favre-Bulle 1. Introduction When referring to the term industrial robot in the following, we mean universal, programmable processing machines, which are usually incorporated in industrial manufacturing processes. Industrial robots are multi-functional handling automata which. Jun 05,  · Introduction into Magnetic Position Sensor Markets for ATV and I applications; presentation of IFX Hall Switch and Angle Sensor Product Families. Category Autos & Vehicles. Inertial sensor bandwidth is defined as the frequency range below the frequency at which the amplitude of the output is 3dB down relative to the input. Changes to natural frequencies, damping ratios and bandwidths are available, but the changes must be evaluated for individual applications.

Complementary Filter (CF) Often, there are cases where you have two different measurement sources for estimating one variable and the noise properties of the two measurements are such that one source gives good information only in low frequency region while the other is good only in high frequency region. (UAV), an Inertial Measurement Unit (IM U) sensor including a tri -axial accelerometer and a tri-axial gyroscope is used to estimate its orientation using inertial processing software. In this paper only the orientation tracking of the gyroscope is discussed. The gyro sensor errors consist of two parts: a constant (or deterministic) part and a. mems inertial sensors. This thesis discusses two problems related to using inertial sensors in combina-tion with aiding sensors. The first is the problem of sensor fusion: how to com-bine the information obtained from the different sensors and obtain a good esti-mate of position and orientation. The second problem, a prerequisite for sensor. Oct 08,  · Inertial Measurement Unit for On-Machine Diagnostics of Machine Tool Linear Axes. Published. October 8, a method was developed to use data from an inertial measurement unit (IMU) for identification of changes in the translational and angular errors due to axis degradation. an IMU was created for application of the IMU-based method Cited by: 1.

Mining machine orientation control based on inertial, gravitational, and magnetic sensors by John J. Sammarco Download PDF EPUB FB2

Mining machine orientation control based on inertial, gravitational, and magnetic sensors. Published Date: Series: "The results of laboratory, field, and open pit accuracy and performance testing of the Honeywell Ring Laser Gyro Inertial Navigation System (INS), a navigation system designed to provide the heading and location of a Cited by: 4.

Get this from a library. Mining machine orientation control based on inertial, gravitational, and magnetic sensors.

[John J Sammarco]. Mining Machine Orientation Control Based on Inertial, Gravitational, and Magnetic Sensors. Authors The technology required for a computer-assisted mining machine requires development of subsystems for machine intelligence, navigation-positioning, and computer control.

This report focuses on one subsystem, an onboard heading system, which. One approach is to develop technology for automation of a continuous mining machine. Realization of an autonomous mining machine requires development of subsystems for machine intelligence, navigation-positioning, and computer control.

Mining Machine Orientation Control Based on Inertial, Gravitational, and Magnetic Sensors. Authors. Mining machine orientation control based on inertial, gravitational, and magnetic sensors. Published Date: Series: "The results of laboratory, field, and open pit accuracy and performance testing of the Honeywell Ring Laser Gyro Inertial Navigation System (INS), a navigation system designed to provide the heading and location of a.

Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/ Technical Report Sammarco, J.J. The U.S. Bureau of Mines seeks to increase safety and efficiency in U.S.

coal mines. One Mining machine orientation control based on inertial is to develop technology for automation of. Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis.

In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding anwalt-sbg.com by: Oct 18,  · 1. Introduction. Small wearable inertial/magnetic sensors (ISs) are becoming increasingly popular for assessment of three-dimensional (3D) measurement of human motion in and outside the laboratory setting (Sabatini, ).They provide advantages over typical laboratory-based optoelectronic systems, suffering neither from measurement-volume limitations (field of view of cameras) nor marker Cited by: The GP9 combines temperature-compensated rate gyros, accelerometers, magnetometers, and absolute air pressure with GPS to produce angle estimates that are reliable even during aggressive dynamic maneuvers.

Unlike more simple attitude sensors, the GP9 is capable of measuring its yaw angle without relying on unpredictable magnetic field measurements. An e cient orientation lter for inertial and inertial/magnetic sensor arrays Sebastian O.H. Madgwick April 30, Abstract This report presents a novel orientation lter applicable to IMUs consisting of tri-axis gyroscopes and accelerometers, and MARG sensor arrays that also include tri-axis magnetometers.

Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/ Centers for Disease Control and Prevention (CDC). Apr 21,  · Assessment of hand kinematics is important when evaluating hand functioning. Major drawbacks of current sensing glove systems are lack of rotational observability in particular directions, labour intensive calibration methods which are sensitive to wear and lack of an absolute hand orientation estimate.

We propose an ambulatory system using inertial sensors that can be placed on the hand Cited by: Calibration methods for inertial and magnetic sensors Article in Sensors and Actuators A Physical (2) · December with Reads How we measure 'reads'.

Design and analysis of an orientation estimation system using coplanar gyro-free inertial measurement unit and magnetic sensors An efficient real-time human posture tracking algorithm using low-cost inertial and magnetic sensors, in: Proceedings of IEEE/RSJ,pp.

– M.F. GolnaraghiA quaternion-based orientation Cited by: The aim of this article is to review systematically and appraise critically the literature surrounding the research, comparing inertial sensors with any kind of gold standard; this gold standard has to be a tool for measuring human movement (e.g.

electrogoniometry, optoelectronic systems, electromagnetic systems, etc.).Cited by: Nov 15,  · Using Inertial Sensors for Position and Orientation Estimation.

Microelectromechanical system (MEMS) inertial sensors have become ubiquitous in modern society. Built into mobile telephones, gaming consoles, virtual reality headsets, we use such sensors on a daily anwalt-sbg.com by: of magnetic coils disqualify it in context of wearable devices, with exception of specific usages as described in [8].

Since the advent of MEMS inertial and magnetic sensors, many solutions have been proposed for problem of position and ori-entation tracking using fusion of inertial and passive magnetic measurements [9], [10], [11]. Orientation estimation of an outdoor vehicle using inertial, magnetic and CP-GPS sensors.

The orientation estimation of an outdoor ground or aerial vehicle is crucial in an autonomous control system. The typical onboard sensors have disadvantages that makes hard to get reliable orientation based on a single sensor.

This paper presents a. GPS-Aided Inertial Navigation Systems (INS) Inertial Measurement Units (IMU) Attitude & Heading Reference Systems (AHRS) Miniature High Precision Digital Tilt Sensor (OS3D-DTS) Motion Reference Units (MRU) Wave Sensor (WS) Miniature 3D Orientation Sensors (OS3D) Weapon Orientation Module (WOM) Man-Wearable Platform (MWP).

Inertial Navigation Systems and Its Practical Applications Recently, most of the manufactured inertial measurement units are based on MEMS technology. Regardless of easy usability, the main advantage of such devices is considerably its small size. Electromicromechanical chips are made of silicon, glass and polymer materials.

sensors can detect portion of the gravity force and earth magnetic field depending on the orientation of the object. Reversely, these sensor measurements can be processed to determine the orientation of an object.

Using 3-axis linear accelerometers and 3-axis magnetic sensors is one of the most popular methods to determine the orientation.

An inertial navigation system (INS) is a navigation device that uses a computer, motion sensors (accelerometers) and rotation sensors to continuously calculate by dead reckoning the position, the orientation, and the velocity (direction and speed of movement) of a moving object without the need for external references.

Prodlnga o(the IEEE International Confanme on RoboU~6 6 AY(Omal1m New Orleans, IA Aprll An Investigation of the Effects of Magnetic Variations on Inertialklagnetic Orientation Sensors Eric R.

Bachmann’, Xiaoping Yun2, and Christopher W. Peterson’ ’Department of Electrical and Computer Engineering, Naval Postgraduate School, Monterey, CA Apr 20,  · These estimates are accurate on a short time scale, but suffer from integration drift over longer time scales.

To overcome this issue, inertial sensors are typically combined with additional sensors and models. In this tutorial we focus on the signal processing aspects of position and orientation estimation using inertial anwalt-sbg.com by: Calibration of Miniature Inertial and Magnetic Sensor Units for Robust Attitude Estimation Zhi-Qiang Zhang and Guang-Zhong Yang, Fellow, IEEE Abstract—Attitude estimation from miniature inertial and magnetic sensors has been used in a wide variety of applications, ranging from virtual reality, underwater vehicles, handheld.

Indoor Navigation (IPIN) make use of inertial sensors. Inertial sensors are also frequently used for pose estimation of cars, boats, trains and aerial vehicles, see e.g.

[, 23]. Examples of this are shown in Figure There exists a large amount of literature on the use of inertial sensors for position and orientation estimation.

Using Inertial Sensors for Position and Orientation Estimation Manon Kok?, Jeroen D. Holyand Thomas B. Sch onz Delft Center for Systems and Control, Delft University of Technology, the Netherlands1 E-mail: [email protected] Nov 17,  · Fundamentals of Inertial Sensors and Navigation - Kindle edition by Amitava Bose.

Download it once and read it on your Kindle device, PC, phones or tablets. Use features like bookmarks, note taking and highlighting while reading Fundamentals of Inertial Sensors and Navigation.4/5(3). Measurement and Estimation of 3D Orientation using Magnetic and Inertial Sensors.

This paper presents a complete implementation of the measurement and estimation of 3D orientation based on a magnetic and inertial measurement unit (MIMU) that we developed. The measurement unit was a combination of a 3D accelerometer, a 3D gyroscope, and a 3D Cited by: 8.

Colloquium on Strategic Directions for Control on Wednesday, 7 June / [organised by the Working Par Proceedings of the 5th IFAC World Congress, Paris, France, June/ organized by the Internati Mining machine orientation control based on inertial, gravitational, and.

The term absolute gravimeter has most often been used to label gravimeters which report the local vertical acceleration due to the earth. Relative gravimeter usually refer to differential comparisons of gravity from one place to another. They are designed to subtract the .sensing and control electronics design for.

capacitive cmos-mems inertial sensors. by. hongzhi sun. a dissertation presented to the graduate school. of the university of florida in partial fulfillment.

of the requirements for the degree of. doctor of philosophy. university of florida. the stable element in a platform inertial navigation system.

Having defined the local horizontal plane, and so effectively achieved a 'level' in the alignment process, it is then necessary to determine the heading or azimuthal orientation of the inertial instrument frame in the horizontal plane, that is, to deter.