• 한국해양공학회지
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• 제11권1호
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• pp.95-105
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• 1997

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

• 한국항해항만학회지
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• 제35권10호
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• pp.785-791
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• 2011

본 논문에서는 소형 선박용 관성측정장치(Inertial Measurement Unit, IMU) 개발에 적합한 MEMS(Micro-Electro Mechanical System) 기반의 관성 센서 평가와 선정에 관하여 기술했다. 먼저, 오일러 공식에 기초한 관성 센서의 오차 모델과 잡음 모델을 정의하고, 앨런 분산(Allan Variance) 기법과 몬테카르로(Monte Carlo) 시뮬레이션 기법을 도입하여 관성 센서를 평가하였다. ADIS16405, SAR10Z, SAR100Grade100, LIS344ALH, ADXL103 등 다섯 가지 관성 센서에 대한 평가결과, ADIS16405의 자이로와 가속도계를 조합한 경우 오차가 가장 작게 나타났는데, 600 초 경과시 속도 오차의 표준편차가 약 160 m/s, 위치 오차의 표준편차가 약 35 km로 나타났다. 평가를 통해 ADIS16405 관성 센서가 IMU 구축에 최적임을 알았고, 이러한 오차 감소 방법에 대해서 참고문헌을 조사하여 검토하였다.

• 실천공학교육논문지
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• 제10권2호
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• pp.119-124
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• 2018

IMU(Inertial Measurement Unit) 센서의 가속도와 각속도를 이용하여 거리측정을 하고 측정값을 이용하여 사용자가 원하는 실내공간에 적용하여 사용자 혹은 디바이스가 실내공간을 인식하는 교육용 장비를 소개한다. 본 교육장비를 이용해서 다양한 위치 인식 및 추적 알고리즘을 학습할 수 있고 창의적 공학설계 작품을 구현할 수 있다. IMU 센서의 데이터 값을 $I^2C$(Inter-Integrated Circuit)을 통해 MCU(microcontroller unit)에 전송하고 필터와 연산방식을 통해 데이터 값을 처리 후 실내 위치 인식 알고리즘을 통해 위치인식을 한다. 그리고 무선통신을 이용하여 처리된 값을 송수신하여 사용자가 인식하도록 설계한다. 본 교육 장비를 이용하여 "IMU센서를 이용하여 이동거리를 산출과 데이터 값을 이용한 가상공간 구현 및 인식"의 사례를 소개하고 그 설계를 기반하여 다양한 창의적 공학설계 적용에 대해서 논한다.

• 대한한의학회지
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• 제38권1호
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• pp.56-71
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• 2017

Objectives: The purpose of this study was to review the article using an IMU(Inertial Measurement Unit) for measuring the cervical range of motion and to evaluate the feasibility of using an IMU for measuring the cervical range of motion. Method: Scopus was used to search for the articles relating to the inclusion criteria. Which is measuring the cervical range of motion using an IMU. A total of 15 articles were selected through discussion. Degree and the reliability of the cervical range of motion and the validity of the data within the articles were extracted. Results: The measurement of the cervical range of motion using an IMU were $92.25^{\circ}$ to $138.2^{\circ}$, $122.4^{\circ}$ to $154.9^{\circ}$, $73.75^{\circ}$ to $93.1^{\circ}$ on the sagittal plane, transverse plane, and coronal plane respectively. 38 of the 43 values showed good reliability. They were larger than 0.75. 5 of the 43 values showed reliability less than 0.75. They were measured by smart phone. 16 of the 21 values showed good validity. The remaining 5 were measured by smart phone. The lower reliability and validity of smart phone were related to the protocol. The IMU can measure the coupling motion and may be used in various situations. Conclusion: The IMU may become a gold standard for measuring the cervical range of motion. The IMU measured not only the cervical range of motion but also the coupling motion. Furthermore, IMU may be used in various situations. Therefore, IMU must be considered a valuable measurement device.

• 한국융합학회논문지
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• 제11권3호
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• pp.119-126
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• 2020

본 연구의 목적은 관성 측정 장치(Inertial Measurement Unit, IMU)의 융합연구 형태와 방법에 대한 연구를 체계적 문헌고찰 방법으로 분석하여 IMU의 형태와 방법에 대한 경향을 파악하고자 한다. 연구수행은 PRISMA(Preferred Reporting Items for Systematic Reviews and Meta-Analyses)가이드라인을 이용하여 수행되었다. 3개의 데이터베이스에서 검색된 630편 중 최종적으로 선정기준에 부합하는 23편을 선정하였다. 본 연구결과 전 세계적으로 IMU를 사용한 다양한 연구를 진행하고 있음을 알 수 있었고, IMU의 형태는 스트랩, 전신 슈트, 벨트, 손목시계, 신발, 장갑이 있었다. 이 중, 스트랩 형태의 IMU가 11편으로 가장 많았다. IMU의 장점인 간소화와 실시간 데이터 수집, 적용의 쉬움으로 작업 활동, 보행, 관절 가동 범위 등의 측정 방법으로 사용되었다. 본 연구의 결과는 IMU의 연구를 진행하는 의료 및 재활 분야의 전문가들에게 기초 자료로 활용될 수 있으리라 기대된다.

• 한국해양공학회지
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• 제11권1호
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• pp.96-96
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• 1997

This paper presents a Inertial Measuring Unit(IMU) for motion measurement of an AUV. The IMU is composed of three parts: inertial sensors with three servo accelerometers and three rate gyros, an analog/digital interface board, and a signal processing board with TMS320C31 DSP processor. The IMU is a class of strap-down inwetial navigation system does not applicable directly to the navigation system in consequence of the AUV and integrated sensors for an integrated navigation system of the AUV. Fast calculstion of direction cosine matrix for the coordinate transformation body to reference is obtained through the DSP processor. A switching algotrithm is used to lessen the low frequency drift effect of the gyros in the vertical plane with use of low pass filtering of the signal of the accelerometers.

• 대한한의진단학회지
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• 제15권3호
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• pp.223-234
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• 2011

Objectives: This study shows feasibility and suitability of a microelectromechanical system inertial measurement unit(MEMS-IMU) as a helpful measurement device for evaluating movement system impairment syndrome. Methods: We reviewed articles of two fields in this study. First, we reviewed articles about movement system impairment syndrome(MSIS) as a brand new viewpoint of diagnosing and treating musculoskeletal pain. Second, we reviewed articles about conventional motion analysis system and inertial measurement unit(IMU) to show the superiority of IMU in analyzing the human movement. All papers were searched by SciVerse, world largest search engine and database about many academic fields including engineering and medicine. Results: Some physical quantities of human motions can be useful to the diagnosis of MSIS, and those data can be obtained by the MEMS-IMU without the weak points of the conventional motion analysis systems. Conclusions: Using MEMS-IMU as a measurement unit for diagnosing and evaluating MSIS is feasible and can be extended to many further studies.

• Journal of Positioning, Navigation, and Timing
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• 제11권1호
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• pp.29-34
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• 2022

In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.937-943
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• 2016

Vertical velocity is critical in many areas, such as the control of unmanned aerial vehicles, fall detection, and virtual reality. Conventionally, the integration of GPS (Global Positioning System) with an IMU (Inertial Measurement Unit) was popular for the estimation of vertical components. However, GPS cannot work well indoors and, more importantly, has low accuracy in the vertical direction. In order to overcome these issues, IMU-barometer integration has been suggested instead of IMU-GPS integration. This paper proposes a new complementary filter for the estimation of vertical velocity based on IMU-barometer integration. The proposed complementary filter is designed to minimize drift error in the estimated velocity by adding PID control in addition to a zero velocity update technique.

• ETRI Journal
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• 제27권4호
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• pp.418-426
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• 2005

A calibration technique for a redundant inertial measurement unit (IMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using a 2-axis turntable is also presented. Finally, a redundant IMU with cone configuration is implemented using low-grade inertial sensors, and the performance of the proposed technique is verified experimentally.