Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment

Name: Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment
Author: Guo, Q., Deng, W. H., Bebek, Özkan, Cavusoglu, M. C., Mastrangelo, C. H., Young, D. J.

İsim	Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment
Yazar	Guo, Q., Deng, W. H., Bebek, Özkan, Cavusoglu, M. C., Mastrangelo, C. H., Young, D. J.
Basım Tarihi:	2018-11
Basım Yeri	- IEEE
Konu	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
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	0018-9200
Kayıt Numarası	1f3f6a80-d96f-45da-bfa8-fb0f29216f9a
Lokasyon	Mechanical Engineering
Tarih	2018-11
Notlar	Utah Science Technology and Research ; University of Utah ; University of London
Örnek Metin	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

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Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment

Yazar Guo, Q., Deng, W. H., Bebek, Özkan, Cavusoglu, M. C., Mastrangelo, C. H., Young, D. J.

Basım Tarihi 2018-11

Basım Yeri - IEEE

Konu 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

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 0018-9200

Kayıt Numarası 1f3f6a80-d96f-45da-bfa8-fb0f29216f9a

Lokasyon Mechanical Engineering

Tarih 2018-11

Notlar Utah Science Technology and Research ; University of Utah ; University of London

Örnek Metin 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