This study focuses on the design and validation of a behavior classification system for cattle using behavioral data collected through accelerometer sensors.Data collection and behavioral analysis are achieved using m...This study focuses on the design and validation of a behavior classification system for cattle using behavioral data collected through accelerometer sensors.Data collection and behavioral analysis are achieved using machine learning(ML)algorithms through accelerometer sensors.However,behavioral analysis poses challenges due to the complexity of cow activities.The task becomes more challenging in a real-time behavioral analysis system with the requirement for shorter data windows and energy constraints.Shorter windows may lack sufficient information,reducing algorithm performance.Additionally,the sensor’s position on the cowsmay shift during practical use,altering the collected accelerometer data.This study addresses these challenges by employing a 3-s data window to analyze cow behaviors,specifically Feeding,Lying,Standing,and Walking.Data synchronization between accelerometer sensors placed on the neck and leg compensates for the lack of information in short data windows.Features such as the Vector of Dynamic Body Acceleration(VeDBA),Mean,Variance,and Kurtosis are utilized alongside the Decision Tree(DT)algorithm to address energy efficiency and ensure computational effectiveness.This study also evaluates the impact of sensor misalignment on behavior classification.Simulated datasets with varying levels of sensor misalignment were created,and the system’s classification accuracy exceeded 0.95 for the four behaviors across all datasets(including original and simulated misalignment datasets).Sensitivity(Sen)and PPV for all datasets were above 0.9.The study provides farmers and the dairy industry with a practical,energy-efficient system for continuously monitoring cattle behavior to enhance herd productivity while reducing labor costs.展开更多
Along with process control,perception represents the main function performed by the Edge Layer of an Internet of Things(IoT)network.Many of these networks implement various applications where the response time does no...Along with process control,perception represents the main function performed by the Edge Layer of an Internet of Things(IoT)network.Many of these networks implement various applications where the response time does not represent an important parameter.However,in critical applications,this parameter represents a crucial aspect.One important sensing device used in IoT designs is the accelerometer.In most applications,the response time of the embedded driver software handling this device is generally not analysed and not taken into account.In this paper,we present the design and implementation of a predictable real-time driver stack for a popular accelerometer and gyroscope device family.We provide clear justifications for why this response time is extremely important for critical applications in the acquisition process of such data.We present extensive measurements and experimental results that demonstrate the predictability of our solution,making it suitable for critical real-time systems.展开更多
A displacement sensor based on the fiber Fabry-Perot (F-P) cavity was proposed in this paper. Theoretical and experimental analyses were presented. Displacement resolution was demonstrated by spectrum-domain experimen...A displacement sensor based on the fiber Fabry-Perot (F-P) cavity was proposed in this paper. Theoretical and experimental analyses were presented. Displacement resolution was demonstrated by spectrum-domain experiments to obtain the dynamic range of the F-P sensor, and a piezoelectric crystal unit (PZT) was used as the driver. The output signal was modulated by a piezoelectric ceramic ring and demodulated by a phase-locked oscillator. The experimental results show that the displacement resolution of the F-P sensor is less than 5 nm and the dynamic range is more than 100 μm. As acceleration is the second-order differential of displacement, an accelerometer model was proposed using the finite element method (FEM) nd ANSYS software.展开更多
A triaxial high-g accelerometer of microelectro mechanical systems （MEMS） has a struc- ture of multi-chips combination and will be used in aerospace field, civil and military fields. The ac- celerometer can measure ...A triaxial high-g accelerometer of microelectro mechanical systems （MEMS） has a struc- ture of multi-chips combination and will be used in aerospace field, civil and military fields. The ac- celerometer can measure the acceleration of the carrier. The chips with island-membrane structures on its back surfaces are made by MEMS dry processing. The chip is reasonable and can work well under high impact load; Titanium alloy base is also stronger in high shock environment, these are proved by finite element analysis. Finally, the MEMS combined triaxial high-g accelerometer is vali- dated by high impact calibration experiments in order to get a key performance index, including range, sensitivity and transverse sensitivity and so on. These data can satisfy the need of design but some problems remain, these will be eliminated by improvement of the processing technology and materials.展开更多
This paper presents a methodology and its software implementation for the performance evaluation of low-cost accelerometer and magnetometer sensors for use in geomatics applications.A known mathematical calibration mo...This paper presents a methodology and its software implementation for the performance evaluation of low-cost accelerometer and magnetometer sensors for use in geomatics applications.A known mathematical calibration model has been adopted.The method was completed with statistical methodologies for adjusting observations and has been extended to calculate accuracies for the attitude,heading,and tilt angles estimation that are of interest to geomatics applications.The evaluation method consists of two stages.First,the evaluation method reviews the total magnitude of acceleration or the strength of the magnetic field.Second,the evaluation is more detailed and concerns the determination of mathematical parameters that describe both accelerometer and magnetometer working model.A software tool that implements the evaluation model has been developed and is applied both in accelerometer and magnetometer measurement data-sets acquired from a low-cost sensor system.展开更多
A novel capacitive biaxial microaccelerometer with a highly symmetrical microstructure is developed. The sensor is composed of a single seismic mass, grid strip, supporting beam, joint beam, and damping adjusting comb...A novel capacitive biaxial microaccelerometer with a highly symmetrical microstructure is developed. The sensor is composed of a single seismic mass, grid strip, supporting beam, joint beam, and damping adjusting combs. The sensing method of changing capacitance area is used in the design,which depresses the requirement of the DRIE process, and de- creases electronic noise by increasing sensing voltage to improve the resolution. The parameters and characteristics of the biaxial microaccelerometer are discussed with the FEM tool ANSYS. The simulated results show that the transverse sensitivity of the sensor is equal to zero. The testing devices based on the slide-film damping effect are fabricated, and the testing quality factor is 514, which shows that the designed structure can improve the resolution and proves the feasibility of the designed process.展开更多
For the purpose of improving the precision of the inertial guidance system,it is necessary to enhance the accuracy of the accelerometer.Combining the micro-fabrication processes with resonant sensor technology,a high-...For the purpose of improving the precision of the inertial guidance system,it is necessary to enhance the accuracy of the accelerometer.Combining the micro-fabrication processes with resonant sensor technology,a high-resolution inertial-grade novel micro resonant accelerometer is studied.Based on the detecting theory of the resonant sensors,the accelerometer is designed,fabricated,and tested.The accelerometer consists of one proofmass,two micro leverages and two double-ended-tuning-fork （DETF） resonators.The sensing principle of this accelerometer is based on that the natural frequency of the DETF resonator shifts with its axial load which is caused by inertial force.The push-pull configuration of the DETF is for temperature compensation.The two-stage micro leverage mechanisms are employed to amplify the force and increase the sensitivity of the accelerometer.The micro leverage and the resonator are modeled for static analysis and nonlinear modal analysis via theory method and finite element method （FEM）,respectively.The geometrical parameters of them are optimized.The amplification factor of the leverage is 102,and the sensitivity of the resonator on theory is about 62 Hz/g.The samples of the accelerometer are fabricated with deep reactive ion etching （DRIE） technology which can get a high-aspect ratio structure for contributing a greater sensing-capacitance.The measuring results of the samples by scanning electron microscopy （SEM） show that the process is feasible,because of the complete structure,the sound combs and micro leverages,and the acceptable errors.The frequency of the resonator and the sensitivity of the accelerometer are tested via printed circuit board （PCB）,respectively.The result of the test shows that the frequency of the push-resonator is about 54 530 Hz and the sensitivity of the accelerometer is about 55 Hz/g.The amplification factor of the leverage is calculated more accurately because the coupling of the two stages leverage is considered during derivation of the analysis formula.In addition,the novel differential structure of the accelerometer can greatly improve the sensitivity of the accelerometers.展开更多
A distributed feedback fiber laser based Bragg grating vibration sensor system is proposed.Demodulated by using an unbalanced M-Z interferometer,experiment demonstrates that the system runs at a sensing sensitivity of...A distributed feedback fiber laser based Bragg grating vibration sensor system is proposed.Demodulated by using an unbalanced M-Z interferometer,experiment demonstrates that the system runs at a sensing sensitivity of about 257.2 rad·s2/m and a resolution of 4.2×10-5 m/s2 for monitoring acceleration.Experimental results show that the phase-shift changes with the acceleration linearly.展开更多
Vector accelerometer has attracted much attention for its great application potential in underground seismic signal measurement. We propose and demonstrate a novel vector accelerometer based on the three fiber Bragg g...Vector accelerometer has attracted much attention for its great application potential in underground seismic signal measurement. We propose and demonstrate a novel vector accelerometer based on the three fiber Bragg gratings(FBGs)embedded in a silicone rubber compliant cylinder at 120° distributed uniformly. The accelerometer is capable of detecting the orientation of vibration with a range of 0°–360° and the acceleration through monitoring the central wavelength shifts of three FBGs simultaneously. The experimental results show that the natural frequency of the accelerometer is about 85 Hz, and the sensitivity is 84.21 pm/g in the flat range of 20 Hz–60 Hz. Through experimental calibration, the designed accelerometer can accurately obtain vibration vector information, including vibration orientation and acceleration. In addition, the range of resonant frequency and sensitivity can be expanded by adjusting the hardness of the silicone rubber materials. Due to the characteristics of small size and orientation recognition, the accelerometer can be applied to low-frequency vibration acceleration vector measurement in narrow spaces.展开更多
This paper presents a literature review exploring the potential of piezoelectric field-effect transistors(piezo-FETs)as bionic microelectromechanical systems(MEMS).First,piezo-FETs are introduced as bionic counterpart...This paper presents a literature review exploring the potential of piezoelectric field-effect transistors(piezo-FETs)as bionic microelectromechanical systems(MEMS).First,piezo-FETs are introduced as bionic counterparts to natural mechanoreceptors,highlighting their classic configuration and working principles.Then,this paper summarizes the existing research on piezo-FETs as sensors for pressure,inertial,and acoustic sensors.Material selections,design characteristics,and key performance metrics are reviewed to demonstrate the advantage of piezo-FETs over traditional piezoelectric sensors.After identifying the limitations in these existing studies,this paper proposes using bionic piezoelectric coupling structures in piezo-FETs to further enhance the sensing capabilities of these artificial mechanoreceptors.Experimentally validated manufacturing methods for the newly proposed piezo-FET structures are also reviewed,pointing out a novel,feasible,and impactful research direction on these bionic piezoelectric MEMS sensors.展开更多
Accelerometers are crucial sensors that measure acceleration resulting from motion or vibration.Compared with their electromechanical counterparts,optical accelerometers are widely regarded as the most promising techn...Accelerometers are crucial sensors that measure acceleration resulting from motion or vibration.Compared with their electromechanical counterparts,optical accelerometers are widely regarded as the most promising technology for high-requirement applications.However,compact integration of various optical and mechanical components to create a miniature optomechanical microsystem for acceleration sensing remains a challenge.In this study,we present a miniature optical fiber accelerometer based on a 3D microprinted ferrule-top Fabry–Pérot(FP)microinterferometer.In-situ 3D microprinting technology was developed to directly print a sub-millimeter-scale 3D proof mass/thin-film reflector-integrated FP microinterferometer on the inherently light-coupled end face of a fiber optic ferrule.Experimental results demonstrate that the optical fiber accelerometer has a flat response over a bandwidth of 2 to 3 kHz and its noise equivalent acceleration is 62.45μg/Hz under 1-g acceleration at 2 kHz.This ultracompact optical fiber interferometric accelerometer offers several distinct advantages,including immunity to electromagnetic interference,remote-sensing capability,and high customizability,making it highly promising for a variety of stringent acceleration-monitoring applications.展开更多
研究基于PI滤波估计加速度漂移的X射线脉冲星敏感器与加表组合导航算法。因长时间惯导误差积累导致发散,X射线脉冲星敏感器不能实时定位,且不能确定速度,提出利用X射线脉冲星敏感器脉冲到达时间(Time of arrival,TOA)作为观测量,与惯导...研究基于PI滤波估计加速度漂移的X射线脉冲星敏感器与加表组合导航算法。因长时间惯导误差积累导致发散,X射线脉冲星敏感器不能实时定位,且不能确定速度,提出利用X射线脉冲星敏感器脉冲到达时间(Time of arrival,TOA)作为观测量,与惯导推算的航天器位置在脉冲星指向上的投影估计位置误差,基于PI滤波估计加速度漂移,修正惯导误差,通过组合导航连续确定位置/速度。仿真表明,基于X射线脉冲星敏感器相位ϕ与加表组合天文导航算法能有效估计加速度漂移,并给出较高精度的位置/速度。展开更多
The performance of any inertially stabilized platform （ISP） is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for s...The performance of any inertially stabilized platform （ISP） is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems （MEMS） sensors. A low-bandwidth gyroscope is used alone with two low-performance accelerometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of the estimation. The accelerometers have inherent biases and mainly contribute to the high-frequency components of the estimation. Extensive experimental results show that the state estimator can achieve high-performance signals over a wide range of velocities without drifts in both the t- and s-domains. Furthermore, with applications in miniature inertially stabilized platforms, the control characteristic presents a significantly improvement over the existing methods. The method can be also applied to robotics, attitude estimation, and friction compensation.展开更多
基金funded by Vietnam National Foundation for Science and Technology Development(NAFOSTED)under grant number:02/2022/TN.
文摘This study focuses on the design and validation of a behavior classification system for cattle using behavioral data collected through accelerometer sensors.Data collection and behavioral analysis are achieved using machine learning(ML)algorithms through accelerometer sensors.However,behavioral analysis poses challenges due to the complexity of cow activities.The task becomes more challenging in a real-time behavioral analysis system with the requirement for shorter data windows and energy constraints.Shorter windows may lack sufficient information,reducing algorithm performance.Additionally,the sensor’s position on the cowsmay shift during practical use,altering the collected accelerometer data.This study addresses these challenges by employing a 3-s data window to analyze cow behaviors,specifically Feeding,Lying,Standing,and Walking.Data synchronization between accelerometer sensors placed on the neck and leg compensates for the lack of information in short data windows.Features such as the Vector of Dynamic Body Acceleration(VeDBA),Mean,Variance,and Kurtosis are utilized alongside the Decision Tree(DT)algorithm to address energy efficiency and ensure computational effectiveness.This study also evaluates the impact of sensor misalignment on behavior classification.Simulated datasets with varying levels of sensor misalignment were created,and the system’s classification accuracy exceeded 0.95 for the four behaviors across all datasets(including original and simulated misalignment datasets).Sensitivity(Sen)and PPV for all datasets were above 0.9.The study provides farmers and the dairy industry with a practical,energy-efficient system for continuously monitoring cattle behavior to enhance herd productivity while reducing labor costs.
文摘Along with process control,perception represents the main function performed by the Edge Layer of an Internet of Things(IoT)network.Many of these networks implement various applications where the response time does not represent an important parameter.However,in critical applications,this parameter represents a crucial aspect.One important sensing device used in IoT designs is the accelerometer.In most applications,the response time of the embedded driver software handling this device is generally not analysed and not taken into account.In this paper,we present the design and implementation of a predictable real-time driver stack for a popular accelerometer and gyroscope device family.We provide clear justifications for why this response time is extremely important for critical applications in the acquisition process of such data.We present extensive measurements and experimental results that demonstrate the predictability of our solution,making it suitable for critical real-time systems.
基金Project (No. 111303-8112D2) supported by the National DefenseResearch Foundation of Zhejiang University, China
文摘A displacement sensor based on the fiber Fabry-Perot (F-P) cavity was proposed in this paper. Theoretical and experimental analyses were presented. Displacement resolution was demonstrated by spectrum-domain experiments to obtain the dynamic range of the F-P sensor, and a piezoelectric crystal unit (PZT) was used as the driver. The output signal was modulated by a piezoelectric ceramic ring and demodulated by a phase-locked oscillator. The experimental results show that the displacement resolution of the F-P sensor is less than 5 nm and the dynamic range is more than 100 μm. As acceleration is the second-order differential of displacement, an accelerometer model was proposed using the finite element method (FEM) nd ANSYS software.
基金Supported by the National Natural Science Foundation of China(61273346)the National Defense Major Fundamental Research Program of China(20110003)+3 种基金the National Defense Key Fundamental Research Program of China(20132010)Specialized Research Fund for the Doctoral Program of Higher Education(20121101120009)Excellent Young Scholars Research Fund of Beijing Institute of Technology(2012YG0203)the Program for the Fundamental Research of Beijing Institute of Technology(2015CX02034)
文摘A triaxial high-g accelerometer of microelectro mechanical systems （MEMS） has a struc- ture of multi-chips combination and will be used in aerospace field, civil and military fields. The ac- celerometer can measure the acceleration of the carrier. The chips with island-membrane structures on its back surfaces are made by MEMS dry processing. The chip is reasonable and can work well under high impact load; Titanium alloy base is also stronger in high shock environment, these are proved by finite element analysis. Finally, the MEMS combined triaxial high-g accelerometer is vali- dated by high impact calibration experiments in order to get a key performance index, including range, sensitivity and transverse sensitivity and so on. These data can satisfy the need of design but some problems remain, these will be eliminated by improvement of the processing technology and materials.
文摘This paper presents a methodology and its software implementation for the performance evaluation of low-cost accelerometer and magnetometer sensors for use in geomatics applications.A known mathematical calibration model has been adopted.The method was completed with statistical methodologies for adjusting observations and has been extended to calculate accuracies for the attitude,heading,and tilt angles estimation that are of interest to geomatics applications.The evaluation method consists of two stages.First,the evaluation method reviews the total magnitude of acceleration or the strength of the magnetic field.Second,the evaluation is more detailed and concerns the determination of mathematical parameters that describe both accelerometer and magnetometer working model.A software tool that implements the evaluation model has been developed and is applied both in accelerometer and magnetometer measurement data-sets acquired from a low-cost sensor system.
文摘A novel capacitive biaxial microaccelerometer with a highly symmetrical microstructure is developed. The sensor is composed of a single seismic mass, grid strip, supporting beam, joint beam, and damping adjusting combs. The sensing method of changing capacitance area is used in the design,which depresses the requirement of the DRIE process, and de- creases electronic noise by increasing sensing voltage to improve the resolution. The parameters and characteristics of the biaxial microaccelerometer are discussed with the FEM tool ANSYS. The simulated results show that the transverse sensitivity of the sensor is equal to zero. The testing devices based on the slide-film damping effect are fabricated, and the testing quality factor is 514, which shows that the designed structure can improve the resolution and proves the feasibility of the designed process.
文摘For the purpose of improving the precision of the inertial guidance system,it is necessary to enhance the accuracy of the accelerometer.Combining the micro-fabrication processes with resonant sensor technology,a high-resolution inertial-grade novel micro resonant accelerometer is studied.Based on the detecting theory of the resonant sensors,the accelerometer is designed,fabricated,and tested.The accelerometer consists of one proofmass,two micro leverages and two double-ended-tuning-fork （DETF） resonators.The sensing principle of this accelerometer is based on that the natural frequency of the DETF resonator shifts with its axial load which is caused by inertial force.The push-pull configuration of the DETF is for temperature compensation.The two-stage micro leverage mechanisms are employed to amplify the force and increase the sensitivity of the accelerometer.The micro leverage and the resonator are modeled for static analysis and nonlinear modal analysis via theory method and finite element method （FEM）,respectively.The geometrical parameters of them are optimized.The amplification factor of the leverage is 102,and the sensitivity of the resonator on theory is about 62 Hz/g.The samples of the accelerometer are fabricated with deep reactive ion etching （DRIE） technology which can get a high-aspect ratio structure for contributing a greater sensing-capacitance.The measuring results of the samples by scanning electron microscopy （SEM） show that the process is feasible,because of the complete structure,the sound combs and micro leverages,and the acceptable errors.The frequency of the resonator and the sensitivity of the accelerometer are tested via printed circuit board （PCB）,respectively.The result of the test shows that the frequency of the push-resonator is about 54 530 Hz and the sensitivity of the accelerometer is about 55 Hz/g.The amplification factor of the leverage is calculated more accurately because the coupling of the two stages leverage is considered during derivation of the analysis formula.In addition,the novel differential structure of the accelerometer can greatly improve the sensitivity of the accelerometers.
基金supported by the Science Fund for Young Scholars of Heilongjiang University,China(No.QL200901)
文摘A distributed feedback fiber laser based Bragg grating vibration sensor system is proposed.Demodulated by using an unbalanced M-Z interferometer,experiment demonstrates that the system runs at a sensing sensitivity of about 257.2 rad·s2/m and a resolution of 4.2×10-5 m/s2 for monitoring acceleration.Experimental results show that the phase-shift changes with the acceleration linearly.
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 61927812, 61735014, and 62105261)。
文摘Vector accelerometer has attracted much attention for its great application potential in underground seismic signal measurement. We propose and demonstrate a novel vector accelerometer based on the three fiber Bragg gratings(FBGs)embedded in a silicone rubber compliant cylinder at 120° distributed uniformly. The accelerometer is capable of detecting the orientation of vibration with a range of 0°–360° and the acceleration through monitoring the central wavelength shifts of three FBGs simultaneously. The experimental results show that the natural frequency of the accelerometer is about 85 Hz, and the sensitivity is 84.21 pm/g in the flat range of 20 Hz–60 Hz. Through experimental calibration, the designed accelerometer can accurately obtain vibration vector information, including vibration orientation and acceleration. In addition, the range of resonant frequency and sensitivity can be expanded by adjusting the hardness of the silicone rubber materials. Due to the characteristics of small size and orientation recognition, the accelerometer can be applied to low-frequency vibration acceleration vector measurement in narrow spaces.
文摘This paper presents a literature review exploring the potential of piezoelectric field-effect transistors(piezo-FETs)as bionic microelectromechanical systems(MEMS).First,piezo-FETs are introduced as bionic counterparts to natural mechanoreceptors,highlighting their classic configuration and working principles.Then,this paper summarizes the existing research on piezo-FETs as sensors for pressure,inertial,and acoustic sensors.Material selections,design characteristics,and key performance metrics are reviewed to demonstrate the advantage of piezo-FETs over traditional piezoelectric sensors.After identifying the limitations in these existing studies,this paper proposes using bionic piezoelectric coupling structures in piezo-FETs to further enhance the sensing capabilities of these artificial mechanoreceptors.Experimentally validated manufacturing methods for the newly proposed piezo-FET structures are also reviewed,pointing out a novel,feasible,and impactful research direction on these bionic piezoelectric MEMS sensors.
基金supported by a grant from the Research Grants Council of Hong Kong SAR,China(Grant No.15213522).
文摘Accelerometers are crucial sensors that measure acceleration resulting from motion or vibration.Compared with their electromechanical counterparts,optical accelerometers are widely regarded as the most promising technology for high-requirement applications.However,compact integration of various optical and mechanical components to create a miniature optomechanical microsystem for acceleration sensing remains a challenge.In this study,we present a miniature optical fiber accelerometer based on a 3D microprinted ferrule-top Fabry–Pérot(FP)microinterferometer.In-situ 3D microprinting technology was developed to directly print a sub-millimeter-scale 3D proof mass/thin-film reflector-integrated FP microinterferometer on the inherently light-coupled end face of a fiber optic ferrule.Experimental results demonstrate that the optical fiber accelerometer has a flat response over a bandwidth of 2 to 3 kHz and its noise equivalent acceleration is 62.45μg/Hz under 1-g acceleration at 2 kHz.This ultracompact optical fiber interferometric accelerometer offers several distinct advantages,including immunity to electromagnetic interference,remote-sensing capability,and high customizability,making it highly promising for a variety of stringent acceleration-monitoring applications.
文摘研究基于PI滤波估计加速度漂移的X射线脉冲星敏感器与加表组合导航算法。因长时间惯导误差积累导致发散,X射线脉冲星敏感器不能实时定位,且不能确定速度,提出利用X射线脉冲星敏感器脉冲到达时间(Time of arrival,TOA)作为观测量,与惯导推算的航天器位置在脉冲星指向上的投影估计位置误差,基于PI滤波估计加速度漂移,修正惯导误差,通过组合导航连续确定位置/速度。仿真表明,基于X射线脉冲星敏感器相位ϕ与加表组合天文导航算法能有效估计加速度漂移,并给出较高精度的位置/速度。
基金Foundation item： National Natural Science Foundation of China （50805144）
文摘The performance of any inertially stabilized platform （ISP） is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems （MEMS） sensors. A low-bandwidth gyroscope is used alone with two low-performance accelerometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of the estimation. The accelerometers have inherent biases and mainly contribute to the high-frequency components of the estimation. Extensive experimental results show that the state estimator can achieve high-performance signals over a wide range of velocities without drifts in both the t- and s-domains. Furthermore, with applications in miniature inertially stabilized platforms, the control characteristic presents a significantly improvement over the existing methods. The method can be also applied to robotics, attitude estimation, and friction compensation.
