Design and Implementation of Fault Tolerant Inertial Measurement Unit

Ufuk Guner; Janset Dasdemir

doi:10.1109/ICEEE52452.2021.9415968

Design and Implementation of Fault Tolerant Inertial Measurement Unit

Ufuk Guner
, Janset Dasdemir

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

1 Downloads (Pure)

Abstract

In this paper, we propose a novel design of a redundant inertial measurement unit (IMU) with hardware-based fault detection and fault-tolerant quaternion-based extended Kalman filter (EKF). The IMU consists of cost-effective 9 degrees of freedom (DOF) analog inertial sensors and low cost 9-DOF single-chip digital inertial sensors. The self-test features of analog sensors have been used to examine if both the sensor and signal conditioning circuits are working properly. In case of sensor failure, a switching algorithm isolates the failed sensor and the system continues to operate with the redundant sensor. The switching algorithm has been implemented according to the quaternion based EKF. The proposed fault detection and isolation (FDI) approach has been experimentally tested on a rotary table with two axes and the results show that the proposed method provides reliable measurement in case of a sensor failure.

Original language	English
Title of host publication	2021 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	17-21
Number of pages	5
ISBN (Electronic)	978-1-6654-4071-4, 978-1-6654-4070-7 (USB)
ISBN (Print)	978-1-6654-1161-5
DOIs	https://doi.org/10.1109/ICEEE52452.2021.9415968
Publication status	Published - 9 Apr 2021
Externally published	Yes
Event	8th International Conference on Electrical and Electronics Engineering, ICEEE 2021 - Virtual, Antalya, Turkey Duration: 9 Apr 2021 → 11 Apr 2021 https://iceee.org/iceee21.html

Conference

Conference	8th International Conference on Electrical and Electronics Engineering, ICEEE 2021
Abbreviated title	ICEEE 2021
Country/Territory	Turkey
City	Antalya
Period	9/04/21 → 11/04/21
Internet address	https://iceee.org/iceee21.html

Keywords

n/a OA procedure
Hardware redundant IMU
Inertial sensors
Fault-isolated inertia measurement

Access to Document

10.1109/ICEEE52452.2021.9415968

Cite this

@inproceedings{0a470d5603144702811b1c3ee5de418d,

title = "Design and Implementation of Fault Tolerant Inertial Measurement Unit",

abstract = "In this paper, we propose a novel design of a redundant inertial measurement unit (IMU) with hardware-based fault detection and fault-tolerant quaternion-based extended Kalman filter (EKF). The IMU consists of cost-effective 9 degrees of freedom (DOF) analog inertial sensors and low cost 9-DOF single-chip digital inertial sensors. The self-test features of analog sensors have been used to examine if both the sensor and signal conditioning circuits are working properly. In case of sensor failure, a switching algorithm isolates the failed sensor and the system continues to operate with the redundant sensor. The switching algorithm has been implemented according to the quaternion based EKF. The proposed fault detection and isolation (FDI) approach has been experimentally tested on a rotary table with two axes and the results show that the proposed method provides reliable measurement in case of a sensor failure.",

keywords = "n/a OA procedure, Hardware redundant IMU, Inertial sensors, Fault-isolated inertia measurement",

author = "Ufuk Guner and Janset Dasdemir",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021, ICEEE 2021 ; Conference date: 09-04-2021 Through 11-04-2021",

year = "2021",

month = apr,

day = "9",

doi = "10.1109/ICEEE52452.2021.9415968",

language = "English",

isbn = "978-1-6654-1161-5",

pages = "17--21",

booktitle = "2021 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021",

publisher = "IEEE",

address = "United States",

url = "https://iceee.org/iceee21.html",

}

Guner, U & Dasdemir, J 2021, Design and Implementation of Fault Tolerant Inertial Measurement Unit. in 2021 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021., 9415968, IEEE, Piscataway, NJ, pp. 17-21, 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021, Antalya, Turkey, 9/04/21. https://doi.org/10.1109/ICEEE52452.2021.9415968

TY - GEN

T1 - Design and Implementation of Fault Tolerant Inertial Measurement Unit

AU - Guner, Ufuk

AU - Dasdemir, Janset

PY - 2021/4/9

Y1 - 2021/4/9

N2 - In this paper, we propose a novel design of a redundant inertial measurement unit (IMU) with hardware-based fault detection and fault-tolerant quaternion-based extended Kalman filter (EKF). The IMU consists of cost-effective 9 degrees of freedom (DOF) analog inertial sensors and low cost 9-DOF single-chip digital inertial sensors. The self-test features of analog sensors have been used to examine if both the sensor and signal conditioning circuits are working properly. In case of sensor failure, a switching algorithm isolates the failed sensor and the system continues to operate with the redundant sensor. The switching algorithm has been implemented according to the quaternion based EKF. The proposed fault detection and isolation (FDI) approach has been experimentally tested on a rotary table with two axes and the results show that the proposed method provides reliable measurement in case of a sensor failure.

AB - In this paper, we propose a novel design of a redundant inertial measurement unit (IMU) with hardware-based fault detection and fault-tolerant quaternion-based extended Kalman filter (EKF). The IMU consists of cost-effective 9 degrees of freedom (DOF) analog inertial sensors and low cost 9-DOF single-chip digital inertial sensors. The self-test features of analog sensors have been used to examine if both the sensor and signal conditioning circuits are working properly. In case of sensor failure, a switching algorithm isolates the failed sensor and the system continues to operate with the redundant sensor. The switching algorithm has been implemented according to the quaternion based EKF. The proposed fault detection and isolation (FDI) approach has been experimentally tested on a rotary table with two axes and the results show that the proposed method provides reliable measurement in case of a sensor failure.

KW - n/a OA procedure

KW - Hardware redundant IMU

KW - Inertial sensors

KW - Fault-isolated inertia measurement

UR - https://www.scopus.com/pages/publications/85106514921

U2 - 10.1109/ICEEE52452.2021.9415968

DO - 10.1109/ICEEE52452.2021.9415968

M3 - Conference contribution

AN - SCOPUS:85106514921

SN - 978-1-6654-1161-5

SP - 17

EP - 21

BT - 2021 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021

PB - IEEE

CY - Piscataway, NJ

T2 - 8th International Conference on Electrical and Electronics Engineering, ICEEE 2021

Y2 - 9 April 2021 through 11 April 2021

ER -

Design and Implementation of Fault Tolerant Inertial Measurement Unit

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