Technologie-Entwicklungsgruppe TEG

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  • Publication
    Inertial low cost navigation with INS error modelling and Kalman filter
    ( 2005)
    Haid, M.
    ;
    Link, M.
    ;
    Loffeld, O.
    ;
    Marquardt, G.
    ;
    Melander, S.
    ;
    Schneider, U.
    In the last few years the development of low-cost intertial sensors has been pushed forward. The dimensions of the newest sensors measure a few millimeters only. At the same time the prices of the sensors decrease being caused by enormously increasing production fifures and the application of low cost micro mechanical silicon structures. This makes applications with low cost systems possible in the meantime. The Fraunhofer TEG in Stuttgart has demonstrated the possibility of motion-tracing of an object with new low cost miniturised sensors. The main disadvantage of low cost IMUs is the sensor drift, since decreasing size and price are usually paid for with a loss of sensor accuracy. In the past this drawback has more than compensated the advantage of the low cost sensors. In order to circumvent the problem of lacking sensor accuracy innovative and complex processing algorithms are needed. Here calibration of the sensors is an important factor. The motivation in developing IMUs for the Fraunhofr TEG is both the need of IMUs in hand- held-devices for engineering applications, medical applications and for low cost systems for the mass market. Marketable products like computer mice and electronic pens are only two of many applications of IMUs in the low cost segment.
  • Publication
    Inertial indoor navigation with low cost sensors and Kalman filter
    ( 2005)
    Haid, M.
    ;
    Link, M.
    ;
    Marquardt, G.
    ;
    Melander, S.
    ;
    Schneider, U.
  • Publication
    Verbesserung der referenzlosen inertialen Objektverfolgung zur Indoor-Navigation durch Anwendung der Kalman-Filterung
    ( 2004)
    Haid, M.
    ;
    Marquardt, G.
    ;
    Melander, S.
    ;
    Nguyen, P.
    Die Fraunhofer Technologie Entwicklungsgruppe (TEG) in Stuttgart hat in verschiedenen Studien gezeigt, dass auch mit Neuentwicklungen kleiner und preiswerter Inertialsensoren eine inertiale Objektverfolgung für den Low-cost-Indoor-Bereich realisierbar ist. Dem bisherigen Einsatz der inertialen Objektverfolgung im Low-cost-Bereich steht vor allem die Sensordrift der verwendeten Low-cost-Miniatursensoren im Wege. Bei dieser Sensordrift handelt es sich um einen zufälligen Nullpunktfehler (Offset, Bias). Dieser Nullpunktfehler entsteht aufgrund von Herstellungsgenauigkeiten, Temperaturveränderungen, Umwelteinflüssen oder Alterung. Zur Lösung dieses Problems wurde in einem Projekt der Fraunhofer TEG die Einsatzmöglichkeit der Estimationstheorie und die Verbesserung in der inertialen Objektverfolgung durch den Kalman-Filter untersucht.
  • Publication
    Optimised analysis of low cost inertial measurement-units as a result of Kalman filter
    ( 2003)
    Haid, M.
    In the last few years the development of smaller inertial sensors has been pushed forward. The dimensions of the newest sensors, which are partly still in pilot production measure a few millimetres only. The price of the sensors decreases in line with the size caused in the massive increasing production figures and the application of low cost micro mechanical silicon structures. This makes applications with low cost systems possible in the meantime. The Fraunhofer Technology Development Group (TEG) in Stuttgart has shown the possibility of motion-tracing an object with new low cost miniaturised sensors. The main drawback of low cost IMUs is the sensor drift of the sensors, because with decreasing volume and price the accuracy of the sensors goes down. This disadvantage has obviated the advantage of the low cost sensors up to now. To realise IMUs in spite of these boundary conditions innovative and complex algorithms are needed to compensate for the inaccuracies. On that occasion the calibration of the sensors is an important factor. The research focus includes first of all the handling and analysis of the recorded sensor signals. At this the needed algorithms transcend the algebraical coherence. Complex algorithms from statistical signal processing and the theory of probabilities come into operation. Furthermore the application specific algorithms analyse the custom-designed environment to extract information to improve the accuracy of our orientation tracking. The motivation in scope of developing IMUs for the Fraunhofer TEG is both the need of IMUs in handheld-devices for engineering applications, and for low cost systems for the mass market. Marketable products like computer mice and electronic pens are only two of many applications of IMUs in the low cost segment.
  • Publication
    Dreidimensionale Orientierungserfassung im Low-Cost-Bereich durch Anwendung der Theorie der Quaternionen
    ( 2003)
    Haid, M.
    ;
    Breitenbach, J.
    ;
    Marquardt, G.
    Die inertiale Objektverfolgung erfasst kontaktlos die Orientierung eines Objektes mit Hilfe von Drehratensensoren. Dabei handelt es sich bei den Sensoren um sogenannte Inertialsensoren, die der inertialen Objektverfolgung ihren Namen geben. In diesem Paper wird die Einsatzmöglichkeit der Low-cost-Inertialsensorik für die dreidimensionale Orientierungserfassung gezeigt. Dabei wird explizit betrachtet, inwieweit die Driftproblematik mit Hilfe der Theorie der Quaternionen kompensiert werden kann.
  • Publication
    Optimized analysis of miniaturized low cost inertial sensors in three-dimensional orientation tracking applications
    ( 2003)
    Haid, M.
    ;
    Dorf, T.
    ;
    Marquardt, G.
    In the last few years the development of smaller inertial sensors has been pushed forward. The dimensions of the newest sensors, which are partly still in pilot production measure a few millimetres only. The price of the sensors decreases in line with the size caused in the massive increasing production figures and the application of low cost micro mechanical silicon structures. This makes applications with low cost systems possible in the meantime. The Fraunhofer Technology Development Group (TEG) in Stuttgart has shown the possibility of motion-tracing an object with new low cost miniaturised sensors. The main drawback of low cost Inertial Navigation Systems is the sensor drift, because decreasing volume and price goes hand in hand with a strong decrease in accuracy. This disadvantage has obviated the advantage of the low cost sensors up to now.
  • Publication
    Inertial orientation tracking with low cost sensors as a Kalman filter application
    ( 2003)
    Haid, M.
    ;
    Dorf, T.
    ;
    Marquardt, G.
    ;
    Schneider, U.
    In the last few years the development of smaller inertial sensors has been pushed forward. The dimensions of the newest sensors, which are partly still in pilot production measure a few millimetres only. The price of the sensors decreases in line with the size caused in the abnormal increasing production figures and the application of low cost micro mechanical silicon structures. This makes applications with low cost systems possible in the meantime. The Fraunhofer Technology Development Group (TEG) in Stuttgart has shown the possibility of motion-tracing an object with new low cost miniaturised sensors. The main drawback of low cost Inertial Navigation Systems is the sensor drift, because decreasing volume and price goes hand in hand with a strong decrease in accuracy. This disadvantage has obviated the advantage of the low cost sensors up to now.