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Sensori inerziali di STMicroelectronics

per controllo di posizione ed assetto

utilizzando avanzati algoritmi di sensor

fusion

Andrea Labombarda

STMicroelectronics: Motion Mems Division

10/04/2013

1

5/15/2013 Presentation Title

Motion Tracking System

• A smart motion tracking system is an interesting

instrument for a wide range of applications:

• Gaming

• Augmented reality

• Telemedicine

• Rehabilitation

• Robotics (Industrial Robots, Automatic karts navigation)

• Uses one or more IMUs to estimate:

• Robot movement

• Orientation in the 3D space

• Direction

2


IMU: Inertial Measurement Unit

• Modular architecture to develop a system for real-time motion capture

• IMU module is composed at least by:

• A microcontroller (MCU)

• 3-axis accelerometer

• 3-axis gyroscope

• 3-axis magnetometer

• The IMU MCU collects measurements from the sensors and

implements the sensor fusion algorithm

• The design of the proposed IMU aims at improving the performance

and at reducing size and weight

• Keep cost low

• Easily placement on a machine without impacting in its movements

3


IMU: MOCAP system

• There are different kind of MOCAP system can be used for Robot

Motion Capture:

• Acoustic System

• Optics System

• Magnetics System

• Some of these methods can be very precise but expensive and they

need a structured environment thus are not easily scalable.

4


• IMU system based on motion

sensors are cheap, small in size

and a good compromise in terms of

precision

IMU: HW System Architecture

• The design has to be taken into account for both HW and SW

characteristics because the system has to be as much transparent as

possible

• Should be small and light enough

• The MCU selection must be a good trade off in terms of power computation and

power consumption

5


MCU 3 Axis Accelerometer

3 Axis Magnetometer

3 Axis Gyroscope

I2C/SPI

communication

Interface

I2C/SPI

I2C/SPI

• One IMU on each robot joint could be enough to track the robot movements

IMU: SW System Architecture 7

3xA

3xA 3xG

3xA 3xM 3xG

3xA 3xM

Delay for filtering

Unwanted acceleration sensitivity

No Orientation

Delay for filtering

Magnetic disturbances

Gyro drift

Accumulated error

Relative position issue

No latency

No drift

Absolute position

No singularity

How does the 9-axis system work?

The 9-axis system creates a more accurate orientation solution. The

proper combination of the gyroscope with the magnetometer and

accelerometer provides all the benefits of each of the three types of

sensors, while eliminating their respective weaknesses:

– The gyro tracks heading, pitch and roll on an instantaneous and short term basis

+ Not influenced by lateral acceleration, vibration, or changing magnetic fields

- Does not have absolute reference and also drifts over time

– The accelerometer tracks the direction of gravity while the magnetometer tracks the direction of the Earth’s magnetic field

+ These have absolute long-term reference

- These are highly susceptible to all the things that the Gyro is not:

acceleration, vibration, and changing magnetic field

8

iNemoTM Engine – API Specifications

• Outputs

• Quaternions

• Heading, Pitch, & Roll

• Linear Acceleration

• Gravity

9

• OS Support • Windows, Linux, Android,

Chrome

• Supported Platforms • x86, OMAP, Cortex-Mx, ARMx

• Output Rate: 100Hz

• iNEMO engine is written in C

code thus can be compiled for

any platform

STMicroeolectronics iNEMO Engine solutions

10

• Availability of iNEMO software libraries, based on the Kalman’s filter theory

• INEMO Engine Lite, a free source code software library for motion-detection

system evaluation. The library is compatible with all the STM32 hardware

platforms

http://www.st.com/web/catalog/tools/FM147/CL1818/SC1528/PF252510

• INEMO Engine Pro, a compiled software library with high performance and

high precision data-fusion algorithms for multiple sensors . The iNEMOEngine

Pro is a precompiled library for STM32F103 microcontrollers and with API

example code for algorithm setup and tuning.




STEVAL MKI109V2: eMotion Board 11

• eMotion is an open architecture:

• Ready to support any device on standard adapter board

• Ready for any wireless extension

• Ready to be battery powered

9x

3x acc

3x gyro

3x mag

INEMO-M1: Overview

L3GD20 3-Axis

Digital Gyroscope

LSM303DLHC6-Axis

eCompass

STM32F103 32-bit

Microcontroller

• The INEMO-M1 is the smallest sensor fusion

system on board (SoB) of the iNEMO family.

• It integrates multiple ST`s sensors

(accelerometers, gyroscopes and

magnetometer) with a powerful 32-bit

computational core.

• Is an advanced motion-based platforms,

perfect for several application segments, such

as augmented reality, navigation, human

machine interfaces, robotics industrial

automated systems and body motion

reconstruction.

• A complete set of communication interfaces in

a very small size form factor (13x13x2 mm)

make the INEMO-M1 system on board a

flexible solution for effortless orientation

estimation embedded applications.

12

13

• Powerful microcontroller from the STM32F103 family

MCU with ARM CORTEX M3 core @72Mhz (90 DMIPS) / 512 Kbytes Flash / 64 Kbytes SRAM

• MEMS sensors for up to 9-axis (acc + gyro + mag)

Accelerometer: FS= ±2g ÷ ±16g

Magnetometer: FS = ±1.3 ÷ ±8.1 gauss

Gyroscope: FS = ±250 ÷ ±2000 dps

• on-board voltage regulator and ceramic resonator

What’s inside INEMO-M1

just 13x13x2 mm2

- SPI (18Mbps), I2C, CAN

- USB 2.0 full-speed

- 8 x ADC channel

- 2 x USART (4.5 Mbps)

- 2 x DAC

- 15 x Timer channel

- 19 x GPIO

I2C

SPI

INEMO-M1: flexibility and configurability

14

• Programming/Debugging i/f:

• ARM’s Serial wire debug (SWD) i/f

• In Application Programming:

• Bootloader via UART

• Communication Interfaces with DMA capability* :

• 1xSPI up to 18 Mb/s – master/slave

• 2xUSART up to 4.5 Mb/s

• CAN v2.0 A/B spec – up to 1Mb/s

• USB 2.0 Full Speed 12Mb/s

• I2C – standard/fast mode - master/slave

• Additional interfaces * :

• Up to 15 I/Os connected to 6 Timer (for input capture/output compare func, PWM …)

• Up to 8 analog input connected to 2 ADC – 12Bit – 1us – DMA enabled

• 2 output driven by two 12-bit DAC – DMA enabled

• Up to 19 GPIO: output (push-pull or open-drain) or input (with or without pull-up or pull-

down)2

Through the STM32 alternate function and pin remapping the INEMO-M1 pin-out can be

configured to support different communication interfaces and functionalities.

* Some limitations could be present due to the pin-out and or reconfigurability constraints

PIN 1

LIS331EB

Smart Sensor With Embedded uP

LIS331EB 16

Cortex M0

32 bit microcontroller LIS3DSH

3axis digital accelerometer

3x3x1 LGA-16

LIS3DSH Low-power mode down to 10 µA

±2g/±4g/ 6g /8g / 16g full-scale

Data rate; 3Hz to 1.6kHz

16 bit data output

Embedded FIFO and State Machine

10000 g high shock survivability

BRAIN Cortex-M0 core - 72MIPS@80Mhz

80 MHz / 32 KHz RC / External

crystal oscillator

128KB Flash Memory

128KB RAM memory

2x I2C (1 Master, 1 Slave)

SPI Master/Slave

JTAG/SWD

7 Programmable GPIOs

Embedded WDG (32Khz)

Embedded Timers/Event Counters

Low power features

LIS331EB Features – Cortex M0 17

Core 72MIPS max down to 2MIPS

from RAM for power

optimization (12 clock speeds)

18 DMIPs from Flash

128Kbytes NVM Flash,

128Kbytes RAM program or

data.

10 mA maximum peak current

and 1μA leakage

Peripherals I²C master port

I²C slave port

SPI master/slave

4 wires UART

7 GPIO Interrupt capability

4 x 32 bits timers, Watchdog

timer

Standard 4 wires JTAG and 2

wire SWD

80 MHz / 32 KHz RC / External

crystal oscillator

LIS331EB Pinout

• 3x3x1 16 lead

2 pins Vdd (1.8V and 1.8÷3.6V)

2 pins Gnd

1 pin Global Reset (@1.8V)

7 pins GPIO

2 pins I2C Master (@ Vdda)

2 pins I2C Slave (@1.8V)

18

Vdda

Vdd1.8

V

GP

IO

GP

IO

GPIO

SD

A

GP

IO

GP

IO

Global RST

SCL RES (GND)

GPIO

GPIO

MCL

MDA

GND

Development Tools

• Customized development tool based on Keil µVision 4

• Libraries

• LIS3DSH driver

• Sensor HUB

• iNemo Engine PRO

• 3D Pointer

• Gesture

19

• ST “standard” peripherals drivers for

easy portability from STM32

• I2C

• SPI

• UART

• Timers

• I2C/SPI/UART flash loader

LIS331EB - Development Boards /1

• p-iNemo

• LIS331EB (3mm x 3mm µController + 3x

accelerometer)

• LIS3MDL (2mm x 2mm 3x magnetometer)

• L3GD20H (3mm x 3mm 3x gyroscope)

• JTAG connector

20

LIS3GD20H LIS331EB

LIS3MDL

21


Thank You.

[email protected]

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