Stationary State Recognition of a Mobile Platform Based on 6DoF MEMS Inertial Measurement Unit
Artykuł w czasopiśmie
MNiSW
100
Lista 2024
| Status: | |
| Autorzy: | Bogucki Marcin, Samociuk Waldemar, Stączek Paweł, Rucki Mirosław, Kilikevičius Artūras, Cechowicz Radosław |
| Dyscypliny: | |
| Aby zobaczyć szczegóły należy się zalogować. | |
| Rok wydania: | 2026 |
| Wersja dokumentu: | Drukowana | Elektroniczna |
| Język: | angielski |
| Numer czasopisma: | 2 |
| Wolumen/Tom: | 16 |
| Numer artykułu: | 729 |
| Strony: | 1 - 18 |
| Impact Factor: | 2,5 |
| Web of Science® Times Cited: | 0 |
| Scopus® Cytowania: | 0 |
| Bazy: | Web of Science | Scopus |
| Efekt badań statutowych | NIE |
| Materiał konferencyjny: | NIE |
| Publikacja OA: | TAK |
| Licencja: | |
| Sposób udostępnienia: | Witryna wydawcy |
| Wersja tekstu: | Ostateczna wersja opublikowana |
| Czas opublikowania: | W momencie opublikowania |
| Data opublikowania w OA: | 10 stycznia 2026 |
| Abstrakty: | angielski |
| The article presents the analytic method for real-time detection of the stationary state of a vehicle based on information retrieved from 6 DoF IMU sensor. Reliable detection of stillness is essential for the application of resetting the inertial sensor’s output bias, called Zero Velocity Update method. It is obvious that the signal from the strapped on inertial sensor differs while the vehicle is stationary or moving. Effort was then made to find a computational method that would automatically discriminate between both states with possibly small impact on the vehicle embedded controller. An algorithmic step-by-step method for building, optimizing, and implementing a diagnostic system that detects the vehicle’s stationary state was developed. The proposed method adopts the “Mahalanobis Distance” quantity widely used in industrial quality assurance systems. The method transforms (fuses) information from multiple diagnostic variables (including linear accelerations and angular velocities) into one scalar variable, expressing the degree of deviation in the robot’s current state from the stationary state. Then, the method was implemented and tested in the dead reckoning navigation system of an autonomous wheeled mobile robot. The method correctly classified nearly 93% of all stationary states of the robot and obtained only less than 0.3% wrong states. |
