Advancing Position Estimation with Inertial Sensor Networks
Navigating and determining position accurately has always been vital, whether in space travel or robotic applications. Inertial Navigation Systems (INS) provide self-contained and reliable position estimation, overcoming challenges like temperature dependency. Innovations like the Dodecahedron INS offer solutions for measuring speed and yaw, enhancing applications in Autonomous Mobile Robots. Dive into the journey of developing sensor networks for precise positioning with low-cost inertial sensors since 2007.
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Dodecahedron Inertial Navigation Network Mahdi Jadaliha
To estimate position has always been a challenge for the mankind, be it navigating spaceships using Inertial Navigation Systems (INSs), or simply crossing the desert using compass or stars to find his direction. Different applications call for different methods, however, the main goal is the same in all navigation: to estimate or measure position or some of its derivatives. Introduction
I have been several years in a robotic team. My duty was finding position of robots and obstacles. since an INS refers to no real-world item beyond itself. It is therefore self-contained, immune to jamming and deception, non-radiating, and a good candidate for position estimation in Autonomous Mobile Robots. Problem Definition
Cant measure speed directly Can t measure yaw directly It is very dependant to temperature * please refer to http://en.wikipedia.org/wiki/Inertial_na vigation_system for more information. Problems with INS
Can measure speed directly Dodecahedron calculates speed by measuring gyroscopic torque on different facets. Can measure yaw directly advanced compassing mechanism is developed to estimate the position of magnetic source(by scattered measurements on the surface of dodecahedron) , therefore we can find magnetic field of earth even in a complicated environment. It is not very dependant to temperature measuring quantities with two sensors in opposite direction reduces the effect of temperature on their biases effectively. Solved with Dodecahedron
Since 2007, I have focused all my efforts on developing a sensor network to determine the position with measuring inertial data from low-cost low-precision inertial sensors. I have made a small and low-cost Inertial Sensor Network, especially with application in Autonomous Vehicles. I made it completely by myself, from designing steps to soldering and programming its DSP.
Designing Micro controller and analog circuits by Altium (Protel) Designing PCB board by Altium (Protel) Soldering Programming Microcontroller by C (MPLAB) Programming data accusation software on PC by Delphi I have DONE every steps of this project by myself
Designing Microcontroller and Analog Circuits
I tried 3 times to make best measurements
DSP Microcontroller X,Y axes gyroscope Each modules is a complete Inertial Measurement Unit (IMU). It has 3 perpendicular axes of measurement for Accelerometers and Gyroscopes. 3 axes Accelerometer Z axis gyroscope And Thermometer Each module (pentagonal) has capabilities equal to Xsense commercial Products. (http://www.xsen s.com/) X, Y axis Magnetometers Main component of IMU modules
However I designed this Dodecahedron for Autonomous vehicle, the modules can be used in different configuration for different propose. Motion Tracking is one of the most popular use of these modules. * please refer to very exciting Video http://www.moven.com/Static/Docume nts/UserUpload/Moven_movie/product_ reel2009.wmv for more information. From: www.xsense.com Motion tracker
It is made from 770 discreet electrical component Measures 108 Sensory Quantity It uses Distributed Processing with 12 DSP Support RS485, RS232, SPI, CAN to communicate Advanced Data Structure to reduce communication faults Manage all process by Interrupts in an event trigger manner to reduce power consumption Uses DMA to decrease process load Dodecahedron Hardware complexity
Thank you for your Patience
Appendix: Platonic Solids Name V F E F-Type Truncation Dual tetrahedron 4 4 6 triangles truncated tetrahedron tetrahedron cube 8 6 12 squares truncated cube octahedron octahedron 6 8 12 triangles truncated octahedron cube dodecahedron 20 12 30 pentagons truncated dodecahedron icosahedron icosahedron 12 20 30 triangles truncated icosahedron odecahedron tetrahedron cube octahedron dodecahedron icosahedron All vertices, edge mid-points and face mid-points lie on concentric spheres All faces are the same shape and are all regular polygons Thus all edges are equal in length and face corners equal in angle. Duals are also all Plationic Solids. The cube is also called a hexahedron Geometrical shape [1] http://www.cit.gu.edu.au/~anthony/graphics/polyhedra/
