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Inertial SensorsInertial Sensors
Inertial Sensors?
• Inertial sensors in inertial navigation : big & expensive
• optical gyroscope (Fiber-optic gyro, ring laser gyro)
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Inertial NavigationInertial Navigation
Inertial Navigation
• A typical inertial navigation system integrates the information gather from a combination of gyroscopes and accelerometers in order to determine the current state of the system.
Western Inertial Markets
• ICBM Trident D5 accuracy : CEP 111 m at 7400 Km (about Korea – Hawaii)
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Accelerometer PrincipleAccelerometer Principle
mass-spring type accelerometer
• To increase accelerometer sensitivity : m large or K small
• What will happen if there is rotation around the rotation axis
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Precession of a gyroscopePrecession of a gyroscope
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Gyroscope based on gyroscopic precessionGyroscope based on gyroscopic precession
Single-axis Gyroscope
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Coriolis AccelerationCoriolis Acceleration
Coriolis acceleration
• A person moving northward toward the outer edge of a rotating platform must increase the westward speed component (blue arrows) to maintain a northbound course. The acceleration required is the Coriolis acceleration.
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Coriolis Acceleration Coriolis Acceleration
Constrained motion means force is appliedturning fork gyroscope
ADXRS150
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Gyroscope using Coriolis effectGyroscope using Coriolis effect
Schematic of the gyro’s mechanical structure
The displacement is proportional to the rotation speed
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ADXRS 150 Single Axis GyroscopeADXRS 150 Single Axis Gyroscope