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.
Recommended Citation
J. Lipina et al., "Developing Wireless Imus to Simplify Integration into Dynamic Systems," Proceedings of the International Telemetering Conference, vol. 55, pp. 356 - 364, Scimago Labs, Jan 2019.
Department(s)
Electrical and Computer Engineering
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
Comments
MicroResearch, Grant None