Author
Guo, Q., Deng, W. H., Bebek, Özkan, Cavusoglu, M. C., Mastrangelo, C. H., Young, D. J.
Publication Date
2018-11
Publication Place
-
IEEE
Subject
Capacitance-to-voltage (C/V) converter, Capacitive sensor, Cyclic analog-to-digital converter, GPS-denied navigation, Ground reaction sensor array (GRSA), Inertial measurement unit (IMU), Personal inertial navigation system (PINS), Pressure sensor array, Switch capacitance compensation, Tactile sensor array
Type
Periodical
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
0018-9200
Record ID
1f3f6a80-d96f-45da-bfa8-fb0f29216f9a
Library Location
Mechanical Engineering
Date
2018-11
Notes
Utah Science Technology and Research ; University of Utah ; University of London
Sample Text
A personal inertial navigation system (PINS) assisted by a microelectromechanical systems (MEMS)-based 13 × 26 ground reaction sensor array (GRSA) and a low-power interface application-specified integrated circuit (ASIC) has been designed and demonstrated for GPS-denied environment. The GRSA operating in a contact mode achieves a sensitivity of approximately 3.7 fF/kPa at each sensor node. An electronic interface system, consisting of a capacitance-to-voltage (C/V) converter followed by a correlated double sampling stage, is designed to convert the GRSA capacitance change to an analog output voltage. The analog output voltage is then digitized by a 12-bit cyclic analog-to-digital converter (ADC). Switch capacitance compensation technique is employed to ensure the ADC performance. The ASIC is fabricated in 0.35-μm CMOS process and dissipates a power of 3 mW. The prototype system incorporates a GRSA, an ASIC, and a commercial nine degreeof-freedom (DOF) inertial measurement unit (IMU) in the heel region of a boot. The GRSA can determine an accurate foot-onground timing based on the pressure profiles detected during walking, thus enabling an accurate position calculation and a precise zero velocity update. Furthermore, a system calibration procedure measures the IMU inherent directional drift and scaling factor errors, and compensates them for the navigation data to achieve a superior performance. The prototype system demonstrates a position accuracy of approximately 5.5 m over a navigation distance of 3100 m. The prototype system also achieves a consistent performance over different field tests with various distances and random paths. System characterization results further indicate a tradeoff between sensor array size and system resolution for a given navigation performance requirement, thus providing a design guideline for future system optimization.
DOI
10.1109/JSSC.2018.2868263
Cilt
53
