Accelerometer Sensed Moving Object Position Real-Time Prediction With Arduino-Embedding Negative Group Delay Function

摘要

An innovative application of negative group delay (NGD) circuit embedded in a mobile platform for the real-time prediction of arbitrarily moving object position is developed in this article. The study case is constituted by a scenario of mini-vehicle moving in go-and-back (GAB) along a straight trajectory equipped by a commercial accelerometer sensor associated with an NGD digital circuit. The instantaneous position generated by the accelerometer sensor is considered as input signal having arbitrary waveform to be predicted by the NGD circuit. The design method of embedded NGD digital circuit is described in function of the targeted time-advance of moving object position to be predicted. The design equations for calculating the NGD predictor parameters are formulated. Furthermore, the routine methodology of the NGD predictor algorithm is elaborated. The prediction function was implemented into the Arduino® UNO platform embedded in the mobile object as an experimental demonstration for the feasibility study. To validate the innovative predictor, a mini-vehicle prototype embedding the NGD function into the Arduino® board is arbitrarily moved in GAB by comparing the directly measured sensed and predicted instantaneous positions. The test is based on the mini-vehicle arbitrary random movement along a straight rectilinear track having more than ten-centimeter length with velocity less than 0.2 m/s. By using the NGD predictor, the real-time prediction of the mini-vehicle position with -80 ms time-advance is confirmed by a good agreement between the theory and experiment. The developed NGD predictor is useful for the sensor design and industrial engineering by reducing error of tele-automatic and robotic system victim of undesirable signal propagation delays.