Angle Detection Using Gyro Signals Rotating Around Four Orthogonally Aligned Axes
Tatsuya Kume*,, Masanori Satoh**, Tsuyoshi Suwada**, Kazuro Furukawa**, and Eiki Okuyama***
*Mechanical Engineering Center, High Energy Accelerator Research Organization (KEK)
1-1 Oho, Tsukuba, Ibaraki 305-0801, Japan
**Accelerator Laboratory, High Energy Accelerator Research Organization (KEK), Tsukuba, Japan
***Faculty of Engineering and Resource, Akita University, Akita, Japan
An angle sensor can be used to evaluate profiles without any shape references. We regard it suitable for evaluating a large profile and consider a gyro as an angle sensor for evaluating a profile larger than 100 m with an accuracy of better than 1 mm. A gyro can evaluate profiles without restrictions in span or direction; however, angles detected by a gyro typically fluctuate unacceptably for our purpose. We demonstrate that periodical reversal measurement by flipping a gyro is effective in reducing the effect of the fluctuation. Then, we rotate the gyro for continuously realizing the reversal, where the angles of the gyro’s rotating axis against the earth’s rotating axis can be derived without being affected by the fluctuation, and can be used as an angle sensor. Here, we consider a new method using gyro signals rotating around four orthogonally aligned axes. This can improve the accuracy of the derived angles by eliminating the effects of the gyro’s scale factor as well as the fluctuations.
-  A. E. Ennos and M. S. Virdee, “High accuracy profile measurement of quasi-conical mirror surfaces by laser autocollimation,” Precision Engineering, Vol.4, No.1, pp. 5-8, 1982.
-  G. Makosch and B. Drollinger, “Surface profile measurement with a scanning differential AC interferometer,” Applied Optics, Vol.23, No.24, pp. 4544-4553, 1984.
-  J. Yellowhair and J. H. Burge, “Analysis of a scanning pentaprism system for measurements of large flat mirrors,” Applied Optics, Vol.46, No.35, pp. 8466-8474, 2007.
-  J. Yellowhair and J. H. Burge, “Measurement of optical flatness using electronic levels,” Optical Engineering, Vol.47, No.2, 023604, pp. 1-9, 2008.
-  S. G. Alcock, K. J. S. Sawhney, S. Scott, U. Pedersen, R. Walton, F. Siewert, T. Zeschke, F. Senf, T. Noll, and H. Lammert, “The diamond-nom: A non-contact profiler capable of characterizing optical figure error with sub-nanometre repeatability,” Nuclear Instruments and Methods in Physics Research Section A, Vol.616, Nos.2-3, pp. 224-228, 2010.
-  K. Ishikawa, T. Takamura, M Xiao, S. Takahashi, and K. Takamasu, “Profile measurement of aspheric surfaces using scanning deflectometry and rotating autocollimator with wide measuring range,” Measurement Science and Technology, Vol.25, No.6, 064008, pp. 1-7, 2014.
-  T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Large-scale accelerator alignment using an inclinometer,” Precision Engineering, Vol.37, No.4, pp. 825-830, 2013.
-  T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Straightness evaluation using inclinometers with a pair of offset bars,” Precision Engineering, Vol.39, pp. 173-178, 2015.
-  C. J. Evans, R. J. Hocken, and W. T. Estler, “Self-calibration: reversal, redundancy, errorseparation, and ‘absolute testing,’” CIRP Annals – Manufacturing Technology, Vol.45, No.2, pp. 617-634, 1996.
-  T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Elimination of gyro drift by using reversal measurement,” Int. J. Automation Technol., Vol.9, No.4, pp. 381-386, 2015.
-  T. Kume, M. Satoh, T. Suwada, K. Furukawa, and E. Okuyama, “Angle detection using a continuously rotating gyro for large scale profile evaluation – Reversal measurement for eliminating gyro drift,” Int. J. Automation Technol., Vol.12, No.4, pp. 582-589, 2018.
-  E. S. Geller, “Inertial system platform rotation,” IEEE Trans. on Aerospace and Electronic Systems, Vol.AES-4, No.4, pp. 557-568, 1968.
-  W. S. Watson, “Improved north seeking gyro,” IEEE PLANS 92 Position Location and Navigation Symp. Record, pp. 121-125, doi: 10.1109/PLANS.1992.185829, Monterey, USA, 1992.
-  T. Tanaka, Y. Igarashi, M. Nara, and T. Yoshino, “Automatic north sensor using a fiber-optic gyroscope,” Applied Optics, Vol.33, No.1, pp. 120-123, 1994.
-  Y. Yang and L.-J. Miao, “Fiber-optic strapdown inertial system with sensing cluster continuous rotation,” IEEE Trans. on Aerospace and Electronic Systems, Vol.40, No.4, pp. 1173-1178, 2004.
-  R. Arnaudow and Y. Angelov, “Earth rotation measurement with micromechanical yaw-rate gyro,” Measurement Science and Technology, Vol.16, No.11, pp. 2300-2306, 2005.
-  Q. Nie, X. Gao, and Z. Liu, “Research on accuracy improvement of INS with continuous rotation,” Proc. of the 2009 IEEE Int. Conf. on Information and Automation, pp. 870-874, Zhuhai, China, June 22-25, 2009.
-  B. R. Johnson, E. Cabus, H. B. French, and R. Supino, “Development of a MEMS gyroscope for northfinding applications,” Position Location and Navigation Symp. (PLANS), pp. 168-170, doi: 10.1109/PLANS.2010.5507133, May 4-6, 2010.
-  L. I. Iozan, M. Kirkko-Jaakkola, J. Collin, J. Takala, and C. Rusu, “Using a MEMS gyroscope to measure the Earth’s rotation for gyrocompassing applications,” Measurement Science and Technology, Vol.23, No.2, 025005, pp. 1-8, 2012.
-  I. P. Prikhodko, S. A. Zotov, A. A. Trusov, and A. M. Shkel, “What is MEMS cyrocompassing? Comparative analysis of maytagging and carouseling,” J. of Microelectromechanical Systems, Vol.22, No.6, pp. 1257-1266, 2013.
-  J. Collin, “MEMS IMU carouseling for ground vehicles,” IEEE Trans. on Vehicular Technology, Vol.64, No.6, pp. 2242-2251, 2015.
-  J. Collin, M. Kirkko-Jaakkola, and J. Takala, “Effect of carouseling on angular rate sensor error processes,” IEEE Trans. on Instrumentation and Measurement, Vol.64, No.1, pp. 230-240, 2015.
-  J. Bojja, J. Collin, M. Kirkko-Jaakkola, M. Payne, R. Griffiths, and J. Takala, “Compact north finding system,” IEEE Sensors J., Vol.16, No.8, pp. 2554-2563, 2016.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.