A new article, MEMS IMU Carouseling for Ground Vehicles, was published in IEEE Transactions on Vehicular Technology, Vol. 64, No 6. The idea for this originated from rate table + gyro system we used for detecting if Earth is really rotating.
We found out that Earth is indeed rotating, but the measurement system was a bit complex. A motor with controlled rotation sequences was needed to get rid of gyro biases. So, I turned the original (vertical) rotation axis to horizontal and figured out that the system in that orientation looks a bit like vehicle wheel. Which rotates for ‘free’ when driving. Some new equations were needed so that the system thinks its rotation is controlled, and as a side-effect the system also measures the distance traveled. The result is relative positioning (dead reckoning) system with accurate heading.
As publication process feels sometimes a bit slow *), I made some social media teasers along the process.
When the measurement system is in wheel, it experiences a bit wild motion:
But the method fixes the rotation so that observations make more sense:
Path that system on a wheel travels when the car turns 360, using Wolfram Language’s tweet a program:
— Jussi Collin (@jiiteecee) January 17, 2015
*) even the JuFo rank dropped from 3 to 2 during the process, hopefully not due to this article 😉
Text by: Jussi Collin