Developing Wireless Imus to Simplify Integration into Dynamic Systems

Abstract

This paper discusses the development of wireless inertial measurement units (IMUs) designed to transmit data from a prototype Mars rover to a remote base station. These nine degree of freedom, multi-chip modules provide measurements for linear acceleration, angular rotation velocity, and magnetic field vectors for the rover's chassis and robotic arm end-effector. To facilitate integration into these dynamic systems, each unit is independently powered and has a form factor of 108 cc. IMU data is sent from 32-bit microcontrollers with embedded IEEE 802.11 b/g/n Wi-Fi to the rover via UDP transport through a custom publish/subscribe distributed IP protocol. Data is relayed over two circular polarized omnidirectional antennas to the base station's dual linear MIMO Yagi-Uda antenna. The information gathered provides operators a heading and orientation to improve situational awareness, as camera visuals are often inadequate.

Department(s)

Electrical and Computer Engineering

Comments

MicroResearch, Grant None

International Standard Book Number (ISBN)

978-171380188-7

International Standard Serial Number (ISSN)

0884-5123

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2024 Scimago Labs, All rights reserved.

Publication Date

01 Jan 2019

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