Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Signal Treatment and Analysis of a Low Cost Strapdown Inertial Measurement Unit
Submission Author:
Aline Leal de Lima Gontarski , PR , France
Co-Authors:
Aline Leal de Lima Gontarski, André Fujarra
Presenter: Aline Leal de Lima Gontarski
doi://10.26678/ABCM.COBEM2021.COB2021-1513
Abstract
Flow-induced vibration (FIV) of submerged structures (e.g. risers, pipelines, tendons, mooring lines) is a complex fluid-structure interaction, where the relation between forces and responses is extensively investigated. The design of these structures needs to be carefully analyzed to avoid large amplitudes of motion that lead to a short life in fatigue and risk of accidents. Also, field monitoring is necessary to evaluate the real behavior of these bodies submitted to currents, waves, drift movement of the platform, among other sources of excitement. Current equipment for such monitoring are very robust and expensive. This work aims to initiate the investigation of a low-cost sensing unit for this application, using MEMS accelerometers, rate gyros, and magnetometers in a strapdown inertial measurement unit (IMU). The inertial unit is composed using Arduino electronic prototyping platform and an IMU module called GY-87 10DOF. Calibration and sensitivity factors are applied. Then, preliminary signals from this IMU, containing simple rotation movements, are treated and filtered through different techniques in Octave, using rotations matrix, quaternions, and sensorial fusion with complementary and Kalman filter, in order to have cleaner results to analyze. The results obtained applying these different procedures are compared and discussed. Then, the main objective is to choose the best method to handle data from the low-cost sensor and then apply these steps in future FIV experiments data
Keywords
IMU, sensorial fusion, Kalman Filter, monitoring, FIV
