Virtual Instrumentation System for 3D Tilt Estimation of Moving Object using MEMS Multi-Sensor Fusion

Abstract

This paper considers the problem of 3D tilt estimation of moving object and development of virtual instrumentation (VI) based system prototype with motion-user interface using six degree of freedom data from MEMS accelerometer and gyroscope. To overcome the inherent limitations of both the sensors and minimize accelerometer noise error and gyroscope drift error, the sensor signals are fused using established Kalman filter and newer, simple and equally efficient complementary filter. The raw data from the sensors is acquired using embedded controller and online analysed on the dedicated virtual instrument using data fusion algorithms. The estimated tilt angles along X, Y, Z axis caused by roll, pitch or yaw motion of the object are graphically plotted and more interactively displayed on the virtual model of 3D aerial object. Also, comparative study of complementary filter and Kalman filter is considered along with the brief overview of the complex and wide-ranging subject of multi-sensor data fusion.

Keywords: MEMS accelerometer, gyroscope, tilt angle, data fusion, virtual motion, interface, virtual instrumentation

Cite this Article

Ramswaroop Yadav, Roop Pahuja. Virtual Instrumentation System for 3D Tilt Estimation of Moving Object using MEMS Multi-Sensor Fusion. Journal of Control & Instrumentation. 2016; 7(3): 1–20p.