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Design and Implementation of Algorithms for Compensating the Effect of Linear Acceleration on Angular Velocity Measurements by MEMS Gyroscopes
Spáčil, Tomáš ; Luczak, Sergiusz (oponent) ; Hnidka, Jakub (oponent) ; Grepl, Robert (vedoucí práce)
This Dissertation deals with the development of a new type of forward compensator, specifically designed to counteract the effect of linear acceleration and jerk acting on MEMS gyro sensors. From the principle of inertial sensor function, additional undesirable forces (normal and tangential) occur when the gyro sensor is placed off the axis of rotation, which negatively affect the measurement of the desired angular velocity. However, the presence of these forces can be measured by an independent sensor, the accelerometer, and the output value of the gyro sensor can be compensated for in a suitable way, thus refining the indirectly measured value of the angular velocity. In the first part of the paper we identify the effect of the mentioned accelerations on MEMS gyroscopes, in the second part of the paper we design and test different compensators, evaluate their effectiveness and in the third part we implement a suitable algorithm on RT HW.
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