感測器功能模擬:數位IMU的案例研究｜國立清華大學博碩士論文庫

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研究生：	林修羽 Lin, Hsiu-Yu
論文名稱：	感測器功能模擬:數位IMU的案例研究 Functional Simulation of Sensor Components:A Case Study of a Digital IMU
指導教授：	周百祥 Chou, Pai H.
口試委員:	謝孫源 Hsieh, Sun-Yuan 游創文 You, Chuang-Wen
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 資訊工程學系 Computer Science
論文出版年：	2022
畢業學年度：	110
語文別：	英文
論文頁數：	54
中文關鍵詞：	慣性感測器、功能模擬、功能設置、離散事件模擬
外文關鍵詞：	IMU, configuration, functional simulation, discrete event simulation
相關次數：	點閱：2 下載：0
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本論文提出了一個針對嵌入式系統設計工具的功能模擬研究，尤其是針對物聯網 (IoT) 中的周邊裝置。在這類系統中，輸入源主要來自傳感設備。不幸的是，目前的模擬器主要專注於指令集或硬體模擬，而沒有任何幫助設計人員處理主要關注的問題，也就是傳感數據本身的研究。數位傳感器的發展增加了這類問題的重要性，數位傳感器不僅在芯片上執行類比數位轉換 (ADC)，還對數據執行數位信號處理，然而當今的模擬器都不支持這些重要的內部設定。
為了解決這類問題並應用在嵌入式系統的新設計工具上，我們提出了一種以數據為中心的功能模擬器。模擬器模擬數位傳感器支持的通信接口和命令，以便於將數據發送到中央處理器之前對其進行處理。最重要的是，可以預先從實際傳感器收集數據或根據物理定律合成數據，以及用於噪聲注入和環境因子的建模。
本論文通過對數位慣性測量單元 (IMU) 進行案例研究，代表了實現此類模擬器的第一步。我們的模擬器允許設計人員以可重複性的方式提出許多假設，包括不同的採樣率、分辨率、動態範圍、觸發條件、噪聲條件等等，對模擬器進行設定，並加以觀察輸出結果。該模擬器有望成為優化許多物聯網設備的重要工具。

This thesis proposes a case study of functional simulation for a design tool for embedded systems, especially edge devices in the Internet of Things (IoT). In these systems, input primarily comes from the sensing devices, rather than data files. Unfortunately, today's simulators focus on either instruction-set or hardware execution without assisting designers with the sensing data itself, which should be of main concern to the designer. The problem is exacerbated by the trend towards digital sensors, which not only perform analog-to-digital conversion (ADC) on-chip but also digital signal processing on the data, none of which is supported by today's simulators.
To address this problem, we propose a data-centric functional simulator for a new design tool for embedded systems. The simulator simulates the communication interface and the commands supported by the digital sensor so that it can operate on the data before sending it to the controller. Most importantly, the data can be collected from an actual sensor in advance or synthesized based on the laws of physics, plus additional modeling for noise injection and environmental modeling.
This thesis represents the first step toward the goal of such a simulator by a case study of a digital inertial measurement unit (IMU). Our simulator allows designers to ask many what-if questions, including different sampling rates, resolutions, dynamic ranges, triggering conditions, noise conditions, and many more, all in a fully reproducible way. This simulator is expected to be an important tool for the optimization of many IoT devices.

Contents ......................................................i
Acknowledgments ...............................................vi
Introduction ................................................1
1 Motivation ..............................................1
2 Contributions ...........................................3
3 Thesis Organization .....................................3
Related Work ................................................4
1 Functional Models .......................................4
1.1 Electro-Mechanical Models ...........................4
1.2 Mathematical Model ..................................5
1.3 System Model ........................................6
2 Stochastic Models .......................................7
2.1 System Noise in Allan Method ........................7
2.2 Environmental Factors ...............................7
3 Simulation Software .....................................8
3.1 System Simulators ...................................8
3.2 Additional tools for simulation .....................9
Configurations in Digital Sensors ...........................10
1 Analog Front-End ........................................10
1.1 Analog-to-Digital Converter .........................10
1.2 Sampling Frequency ..................................11
1.3 Threshold ...........................................11
1.4 Duration ............................................12
1.5 Full Scale (FS) .....................................12
1.6 Re-orientation ......................................13
2 Digital Signal Processing ...............................13
3 Data Buffering ..........................................14
4 Digital Interface .......................................16
4.1 I2C .................................................17
4.2 SPI .................................................18
4.3 Interrupt Request (IRQ) .............................20
5 Register Map ............................................21
6 Sensor Noise ............................................21
6.1 Bias Stability ......................................22
6.2 Angular Random Walk and Velocity Random Walk ........22
IMU Simulator ...............................................23
1 System Overview .........................................23
1.1 Discrete Event Simulation ...........................24
1.2 IMU Simulator .......................................24
1.3 Test Bench ..........................................25
2 IMU Simulator ...........................................25
2.1 Analog Front-End (AFE) ..............................25
2.2 Digital Signal Processing (DSP) .....................27
2.3 Data Buffering ......................................33
2.4 Digital Interface ...................................33
Implementations and Case Study ..............................38
1 Simulator Prerequisites .................................38
1.1 Parameters for Initialization .......................38
1.2 Input Data ..........................................39
2 Simulator Implementations ...............................39
3 Test Bench Controller ...................................40
Evaluation ..................................................42
1 Discussion ..............................................42
1.1 Time Shift ..........................................42
1.2 Data Loss ...........................................43
2 Comparison ..............................................43
2.1 Signal Generator ....................................44
2.2 Component Replacement ...............................44
2.3 Data Reproduction ...................................45
Conclusions and Future Work .................................46
1 Conclusions .............................................46
2 Future Work .............................................47
Appendix A Python Code for Simulator ..........................51
                                

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