MEMS Electromechanical Microsystem as a Support System for the Position Determining Process with the Use of the Inertial Navigation System INS and Kalman Filter

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Abstract: The article attempts to present a technological solution based on the use of the integrated MEMS system technology, necessary to make measurements of the positioning system, built using inertial navigation sensors (INS) and the Kalman filter and the GPS receiver. As inertial sensors, low cost, commonly available accelerometers, magnetometers and gyroscopes made in MEMS technology were used. Among others, the way of calibrating the accelerometer and methods of processing signals from MEMS sensors were discussed. The main goal of the work was to develop an integrated MEMS system, which is also a supporting system together with the inertial navigation system and the Kalman filter in the aspect of determining the position of a flying object. The article presents the essence of the MEMS technology used in terms of accelerometric measurements and discusses the phenomenon of unbalance in the INS system, measured using an accelerometer. The mathematical model of the measurement of the position of a potential flying object was presented along with he inaccuracies that occurred during the measurement. The accelerometers were calibrated and tested for the first time in the area of non-linearities of their scaling factors, and then determined at a defined level, which performed repetitive maneuvers of movement in a straight line. The results of computer simulations carried out in the Matlab/Simulink programming environment were also presented. Based on the analysis and selected simulation tests, practical conclusions resulting from the research were formulated. The research results prove the potential for using MEMS technology in the area of GPS positioning systems.

WSEAS Transactions on Applied and Theoretical Mechanics, ISSN / E-ISSN: 1991-8747 / 2224-3429, Volume 14, 2019, Art. #11

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Lucjan Setlak, Rafał Kowalik, "MEMS Electromechanical Microsystem as a Support System for the Position Determining Process with the Use of the Inertial Navigation System INS and Kalman Filter ," WSEAS Transactions on Applied and Theoretical Mechanics, vol. 14, pp. 105-117, 2019, DOI:
Lucjan Setlak, Rafał Kowalik. MEMS Electromechanical Microsystem as a Support System for the Position Determining Process with the Use of the Inertial Navigation System INS and Kalman Filter . WSEAS Transactions on Applied and Theoretical Mechanics. 2019;14:105-117.
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