Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor)

Hitoshi Kimura; Masashi Nakamura; Norio Inou; Masayuki Matsudaira; Minoru Yoshida

doi:10.20965/jrm.2013.p0408

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JRM Vol.25 No.2 pp. 408-416

doi: 10.20965/jrm.2013.p0408

(2013)

Paper:

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Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor)

Hitoshi Kimura^, Masashi Nakamura^, Norio Inou^*,
Masayuki Matsudaira^, and Minoru Yoshida^

^*Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

^**Hakusan Corporation, J Tower, 1-1 Nikko-cho, Fuchu City, Tokyo 183-0044, Japan

Received:

September 29, 2012

Accepted:

September 29, 2012

Published:

April 20, 2013

Keywords:

accelerometer, sensor direction, sensitivity correction, coordinate conversion, multi-axis examination

Abstract

An accelerometer generally has direction gaps between the package and the actual sensors. Conventional accelerometer calibration methods, e.g., ISO standard, do not consider this direction gap. This study proposes a new calibration method. The method uses a new examination system with a parallel linkage exciter mechanism. The exciter rotates a target accelerometer in a uniform circular motion, and the posture of the accelerometer is kept constant against external coordinates. The required torque for the rotation is small and constant because the rotation components are balanced with counterweights. Therefore, the exciter applies a stable sine wave acceleration to the accelerometer. This method contributes not only to the accuracy of input acceleration but also to the removal of offset noise. In addition, the input acceleration is calculated only by one differential computation, whereas an ordinary mechanism requires a second order differential. From the accelerometer output, a plane including the actual sensor direction is detected by the sine curve profile. The direction of the actual sensor is the line of intersection of two measured planes. For a 3-axis accelerometer, measurement 2 times is enough to determine all actual sensor directions and sensitivities with this method (measurement one time is enough for a 2-axis accelerometer). Actual sensor directions and sensitivities are experimentally examined. The result is consistent with the data sheet of the test accelerometer.¹ 1. This paper is the full translation from the transactions of JSME, Series C, Vol.78, No.786, pp. 499-507, 2012.

Cite this article as:

H. Kimura, M. Nakamura, N. Inou, M. Matsudaira, and M. Yoshida, “Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor),” J. Robot. Mechatron., Vol.25 No.2, pp. 408-416, 2013.

Data files:

References

[1] ISO 16063-1, “Methods for the calibration of vibration and shock transducers Part1: Basic concepts,” 1998.
[2] ISO 5347, “Methods for the calibration of vibration and shock pickups,” 1993.
[3] A. Umeda, M. Onoe, K. Sakata, T. Fukushima, K. Kanari, and T. Kobayashi, “Calibration of Three-axis Accelerometers as a Three-Dimensional Accelerometer Using a Three-Dimensional Vibration Generator and Laser Interferometers: Proposal of the New Technique from the Viewpoint that the Acceleration is a Vector Quantity,” Trans. of the Japan Society of Mechanical Engineers C, Vol.70, No.697, pp. 38-45, 2007 (in Japanese).
[4] K. Ohwada, “International Standardization of Sensors and Micromachines,” Trans. of the Institute of Electrical Engineering of Japan, Vol.124, No.7, pp. 238-241, 2004 (in Japanese).
[5] M. Nakamura, T. Atsumi, H. Kimura, N. Inou, M. Matsudaira, and M. Yoshida, “Development of Sensor Calibration System for Low-Frequency Quakes,” Proc. of The 13th Japan Earthquake Engineering Symposium, No.569, GO16-Fri-PM-9, 2010 (in Japanese).
[6] H. Kimura, M. Nakamura, N. Inou, M. Matsudaira, andM. Yoshida, “Examination System for Accelerometer with Parallel Link Mechanism Displacement Calculation by Integrated Acceleration and Individual Correction of Accelerometers,” Trans. of the Japan Society of Mechanical Engineers C, Vol.78, No.785, pp. 27-34, 2012 (in Japanese).
[7] Y. Hayashi, H. Katukura, T. Watanabe, S. Kataoka, H. Yokota, and T. Tanaka, “Reliability of Integrated Displacements from Accelerograms by Digital Accelerographs,” J. of Structural and Construction Eng., No.419, pp. 57-66, 1991 (in Japanese).
[8] H.Matsumoto, J. Akane, K. Kusunoki, and A. Tasai, “Development of real-time residual seismic capacity evaluation system: No.4 Outline of the study on the accuracy of performance curve from accelerometers,” Summaries of Technical Papers of Annual Meeting Architectural Institute of Japan, pp. 25-26, 2007 (in Japanese).
[9] Y. Oosaki, “Chapter 7: Response Spectrum,” Introduction to Spectral Analysis for Earthquake Motion, Kashima Publishing, pp. 129-151, 1994 (in Japanese).
[10] F. Facchinei and C. Kanzow, “A nonsmooth inexact Newton method for the solution of large-scale nonlinear complementarity problems,” Mathematical Programming, Vol.76, pp. 493-512, 1997.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] ISO 16063-1, “Methods for the calibration of vibration and shock transducers Part1: Basic concepts,” 1998.

[2] [2] ISO 5347, “Methods for the calibration of vibration and shock pickups,” 1993.

[3] [3] A. Umeda, M. Onoe, K. Sakata, T. Fukushima, K. Kanari, and T. Kobayashi, “Calibration of Three-axis Accelerometers as a Three-Dimensional Accelerometer Using a Three-Dimensional Vibration Generator and Laser Interferometers: Proposal of the New Technique from the Viewpoint that the Acceleration is a Vector Quantity,” Trans. of the Japan Society of Mechanical Engineers C, Vol.70, No.697, pp. 38-45, 2007 (in Japanese).

[4] [4] K. Ohwada, “International Standardization of Sensors and Micromachines,” Trans. of the Institute of Electrical Engineering of Japan, Vol.124, No.7, pp. 238-241, 2004 (in Japanese).

[5] [5] M. Nakamura, T. Atsumi, H. Kimura, N. Inou, M. Matsudaira, and M. Yoshida, “Development of Sensor Calibration System for Low-Frequency Quakes,” Proc. of The 13th Japan Earthquake Engineering Symposium, No.569, GO16-Fri-PM-9, 2010 (in Japanese).

[6] [6] H. Kimura, M. Nakamura, N. Inou, M. Matsudaira, andM. Yoshida, “Examination System for Accelerometer with Parallel Link Mechanism Displacement Calculation by Integrated Acceleration and Individual Correction of Accelerometers,” Trans. of the Japan Society of Mechanical Engineers C, Vol.78, No.785, pp. 27-34, 2012 (in Japanese).

[7] [7] Y. Hayashi, H. Katukura, T. Watanabe, S. Kataoka, H. Yokota, and T. Tanaka, “Reliability of Integrated Displacements from Accelerograms by Digital Accelerographs,” J. of Structural and Construction Eng., No.419, pp. 57-66, 1991 (in Japanese).

[8] [8] H.Matsumoto, J. Akane, K. Kusunoki, and A. Tasai, “Development of real-time residual seismic capacity evaluation system: No.4 Outline of the study on the accuracy of performance curve from accelerometers,” Summaries of Technical Papers of Annual Meeting Architectural Institute of Japan, pp. 25-26, 2007 (in Japanese).

[9] [9] Y. Oosaki, “Chapter 7: Response Spectrum,” Introduction to Spectral Analysis for Earthquake Motion, Kashima Publishing, pp. 129-151, 1994 (in Japanese).

[10] [10] F. Facchinei and C. Kanzow, “A nonsmooth inexact Newton method for the solution of large-scale nonlinear complementarity problems,” Mathematical Programming, Vol.76, pp. 493-512, 1997.

Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor)

Hitoshi Kimura*, Masashi Nakamura*, Norio Inou*, Masayuki Matsudaira**, and Minoru Yoshida**

Hitoshi Kimura^, Masashi Nakamura^, Norio Inou^*,
Masayuki Matsudaira^, and Minoru Yoshida^