Design of an IMU for an Indoor Blimp

The advancing research in MEMS technology has allowed many systems to become smaller and lighter. Applications for this technology are just beginning to be explored. In this work an IMU for the purpose of navigating an autonomous indoor blimp is developed. Due to the unique system properties of an indoor blimp, the developed IMU is light-weight and is capable of measuring slow rotational rates and accelerations. An emphasis is placed on maintaining low cost by using commercially available off-the-shelf components. An overview of current IMU technology is presented and evaluated. Appropriate hardware is selected, and an IMU is designed. A constructed IMU is tested, modeled, and simulated. Models of the IMU''s sensors are developed from test data and evaluated based on autocorrelation methods. Based on experimental observations, a mathematical model of an indoor blimp in closed loop with guidance and control laws is also developed. Several simulations to evaluate the IMU s ability to accurately measure the blimp s states are performed. This work is directed at people with an interest in embedded controls, MEMS sensors, modeling, and simulation.