Li Wang

Conventional triaxial MEMS gyroscope calibration relies on strict mounting constraints, specialized apparatus, and elaborate laboratory procedures that hinder field deployment; this work presents a field-deployable method enabling efficient and accurate in-field calibration. The core strategy is to utilize the criterion that the dot product of the measured gravity and the rotation speed in a fixed frame remains constant. To eliminate the impact of external acceleration, the calibration process involves separate procedures for measuring local gravity and rotation speed. Moreover, unlike existing approaches for auto calibration of triaxial sensors that often result in nonlinear optimization problems, the proposed method simplifies the estimation of the gyroscope scale factor by employing a linear least squares algorithm. Extensive numerical simulations have been conducted to analyze the proposed method’s performance in calibrating the six-parameter triaxial gyroscope model, taking into consideration measurements corrupted by simulated noise. Experimental validation was also carried out using two commercially available MEMS inertial measurement units (LSM9DS1) and a servo motor. The experimental results effectively demonstrate the efficacy of the proposed calibration approach.

As the simplest feature extraction, traditional hand-crafted transient-state features have been widely used in the area of electronic noses (e-noses). However, the influence of noise in the calculation of numerical differentiation leads to inaccuracy and instability in extracting these features. To tackle this issue, a novel numerical differentiation algorithm is proposed, which uses kernel-based regularization. The proposed method can provide accurate and stable transient-state features by directly estimating high-order derivatives from the noise-contaminated sensor’s reading. The feature representation is a prerequisite for the good performance of e-noses. Nevertheless, it should be noted that this performance in real applications can still be affected by other factors, such as sensor drift and the disturbance of nontarget odors. These issues can be addressed by applying a framework of domain adaptation and one-class classification. The proposed method and the adopted framework are verified in a field experiment, which identifies the odor of four targets and two disturbance whiskies measured by a self-designed e-nose system. The classification accuracy with traditional features is improved from $\mathbf{71.90\%}$ to $\mathbf{86.36\%}$ , showing the good potential of the proposed method for application in the area of e-noses.

Starlight navigation technology for hypersonic vehicles in near space is a hot topic of research, and the main difficulty lies in the complexity of the background light.In addition to detector noise and atmospheric scattering noise of sunlight, aero-optical effects also lead to excited radioluminescence of the gas, and the intense optical radiation noise poses new challenges for star image extraction and identification algorithms of star sensors.Star image data are the basis for verifying the validity of the algorithm.Near-space star images are difficult to obtain and have poor coverage of working conditions.This paper proposes a star image simulation algorithm in the complex background of near space, mainly considering the noise factors such as detector noise, atmospheric background radiation noise and radiation noise of aero-optical effects,and completes modelling and simulation to support the researches of star sensor algorithm and the selection of product optoelectronic parameters.

Given the popularity of running-based sports and the rapid development of Micro-electromechanical systems (MEMS), portable wireless sensors can provide in-field monitoring and analysis of running gait parameters during exercise. This paper proposed an intelligent analysis system from wireless micro–Inertial Measurement Unit (IMU) data to estimate contact time (CT) and flight time (FT) during running based on gyroscope and accelerometer sensors in a single location (ankle). Furthermore, a pre-processing system that detected the running period was introduced to analyse and enhance CT and FT detection accuracy and reduce noise. Results showed pre-processing successfully detected the designated running periods to remove noise of non-running periods. Furthermore, accelerometer and gyroscope algorithms showed good consistency within 95% confidence interval, and average absolute error of 31.53 ms and 24.77 ms, respectively. In turn, the combined system obtained a consistency of 84–100% agreement within tolerance values of 50 ms and 30 ms, respectively. Interestingly, both accuracy and consistency showed a decreasing trend as speed increased (36% at high-speed fore-foot strike). Successful CT and FT detection and output validation with consistency checking algorithms make in-field measurement of running gait possible using ankle-worn IMU sensors. Accordingly, accurate IMU-based gait analysis from gyroscope and accelerometer information can inform future research on in-field gait analysis.

This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on the idea that the measurement of the gyroscope should be equal to the rotation speed of the servomotor. A six-observation experimental design is proposed to minimize the maximum variance of the estimated scale factors and biases. In addition, a fast converging recursive linear least square estimation method is presented to reduce computational complexity. The simulation results reflect the robustness of the calibration method under normal and extreme conditions. We experimentally demonstrate the feasibility of the proposed method on a robot arm, and implement the method on a microcontroller. We verify the calibration results of the proposed method by comparing with a traditional turntable approach, and the experiment indicates that the results of these two methods are comparable. By comparing the calibrated low-cost gyroscope reading with the reading from a high-precision gyroscope, we can conclude that our method significantly increases the gyroscope's accuracy.

This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on the idea that the measurement of the gyroscope should be equal to the rotation speed of the servomotor. A six-observation experimental design is proposed to minimize the maximum variance of the estimated scale factors and biases. In addition, a fast converging recursive linear least square estimation method is presented to reduce computational complexity. The simulation results reflect the robustness of the calibration method under normal and extreme conditions. We experimentally demonstrate the feasibility of the proposed method on a robot arm, and implement the method on a microcontroller. We verify the calibration results of the proposed method by comparing with a traditional turntable approach, and the experiment indicates that the results of these two methods are comparable. By comparing the calibrated low-cost gyroscope reading with the reading from a high-precision gyroscope, we can conclude that our method significantly increases the gyroscope’s accuracy.