Three Dimensional Trajectory Estimation Using IMU Based Sensing for Self Driving Applications

In this project, estimation of the orientation and position of the self-driving vehicle is being investigated. MEMS based inertial measurement units (IMU) have been used because of their small size and accuracy for 3D position and mobility data estimation. The real time raw data are being handled by

Project Title

Three Dimensional Trajectory Estimation Using IMU Based Sensing for Self Driving Applications

Project Area of Specialization

Robotics

Project Summary

In this project, estimation of the orientation and position of the self-driving vehicle is being investigated. MEMS based inertial measurement units (IMU) have been used because of their small size and accuracy for 3D position and mobility data estimation. The real time raw data are being handled by the original Arduino Nano controller. The relative location of moving vehicles through its gyroscope and accelerometer sensors are being estimated with the IME-Arduino Nano interface whereas the global positioning will be implemented using GPS-Arduino interface to finally plot real-time vehicle trajectory. The data obtained by the IMU sensor are in the form of linear acceleration, angular velocity and magnetic fields strengths at every instant of time. The MEMs-based sensors offer a lot of vibrations related errors. The main challenge of this project is to study algorithms and approaches to fuse various sensor data into meaningful results of position and mobility after successfully eliminating vibrations related noise. 

Project Objectives

This project aims at achieving the following objectives:

1) To interface the IMU with a high speed.

2) To calibrate the IMU sensor and perform preliminary experiments to verify the initial design.

3) To design GPS-based absolute localization and tracking of moving objects.

4) To experiment the design in the real-world scenario for moving body trajectory estimation.

5) To compare the results obtained from IMU based sensor with GPS based hardware.

6) To plot the real time 3D trajectory and give route statistics.

Project Implementation Method

The project has been started with a brief literature review and the necessary equipment have been procured for project implementation and support as per the list provided below under ‘cost breakdown’. The major equipment includes the inertial measurement unit (BNO055: a MEMS based 9-axis Absolute Orientation IMU sensor), microcontroller unit (Arduino nano), GPS tracker (Adafruit), Arduino UNO for GPS based unit, and computers for real-time trajectory plot and route statistics. Microcontroller unit (MCU) programming is in focus these days. The inertial measurement unit (IMU) has been interfaced and calibrated with the selected MCU. Data has been extracted from accelerometer and gyroscope within the IMU sensor. The gyroscope data gives the angular velocity and is particularly challenging for twist and turn sensing and estimation. 

The data collected from the sensors are now being interpretated and would be converted into meaningful information for route statistics and real time plotting. Experiments would then be carried out in the real-world scenarios and design would be modified if needed.

To verify design and to achieve absolute localization of the moving object, the route estimation would also be done using GPS receiver. For this interfacing of the receiver with another high-speed MCU would be done and position and velocity data would be retrieved, stored and interpreted. Then the IMU based results will be compared with the GPS based results. If both the results are acceptably close then real time plotting of the trajectory using both the units would be done.

Benefits of the Project

In the digitally networked world, tasks are can now be performed remotely and without much human intervention. To enable such activities, developing highly accurate tracking of trajectory techniques are crucial. Moving object tracking has been a challenging problem in the field of engineering and computer science. The deliverables of localization and trajectory tracking project improves performance of robotics, drones, telemedicine and numerous other applications.

Robots could go where people cannot go to perform hazardous, dangerous and dull tasks. Moreover, highly skilled operations can also be performed through robots, where an expert could be reached through remote connection. In order to build dynamically stable human-like robots for such applications, their motion and trajectory needs to be constantly monitored. In the proposed project, methods will be outlined to visualize in 3D perspective motion and localization of robots as feedback in controlling their dynamics.

During the wake of COVID-19, delivery drones find great significance in transporting packages, medical supplies, food and other needs. We find rapidly evolving growth in the drone-based devices, based on the tasks they perform from moving making to emergency ambulance. All such activities cannot be made possible without robust and efficient controls which require constant feed from motion and trajectory sensors. The proposed project therefore finds its significance in achieving highly accurate information of drone’s position and flight variables.

Technical Details of Final Deliverable

The final deliverable would be in the form of device consists of GPS, MCU(Arduino nano) and IMU sensor which will be capable to measure the self-driven vehicle's relative and global position and plotting its real time trajectory using both IMU and GPS sensors. The results obtained by this device would be the best possible position estimation.

Final Deliverable of the Project

Hardware System

Core Industry

Agriculture

Other Industries

Core Technology

Robotics

Other Technologies

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com