SPaCES -- BMI160 Inertia Measurement Unit (IMU) Testing (June 07, 2024)
Table of Contents
- Test Objective
- Testing Details
- Container Positions Used in Testing
- Testing Log
- Test Results
- Observations & Additional Info
Test Objective
The objective of the test was to record measurements from the BMI160 Inertia Measurement Unit (IMU) sensor. These measurements can be used to set proper thresholds to send alerts if the resting orientation of the SPaCES container were to deviate from its intended resting orientation. For example: alerts could be sent out if the SPaCES container (or the vehicle carrying it) were to flip on its side, or overturn, etc.
ToCTesting Details
The SPaCES container was laid on all of it's five sides (apart from the intended normal resting orientation) and IMU measurements were recorded at the top of every minute for 5 minutes. In between switching from side to side the container was laid on its normal resting orientation for 5 minutes.
ToCContainer Positions Used in Testing
Fig. 1: Flat, normal position (resting on broad bottom)
Fig. 2: Side, back (resting on back wall)
Fig. 3: Side, right (resting on right side wall)
Fig. 4: Side, left (resting on left side wall)
Fig. 5: Side, front (resting on front wall)
Fig. 6: Flat, upside-down (resting on broad top)
Testing Log
| No. | Time (EDT) |
Container Position |
|---|---|---|
| 1 | 12:00 - 12:05 | Side, back (resting on back wall) |
| 2 | 12:05 - 12:10 | Flat, normal position (resting on broad bottom) |
| 3 | 12:10 - 12:15 | Side, right (resting on right side wall) |
| 4 | 12:15 - 12:20 | Flat, normal position (resting on broad bottom) |
| 5 | 12:20 - 12:25 | Side, left (resting on left side wall) |
| 6 | 12:25 - 12:30 | Flat, normal position (resting on broad bottom) |
| 7 | 12:30 - 12:35 | Side, front (resting on front wall) |
| 8 | 12:35 - 12:40 | Flat, normal position (resting on broad bottom) |
| 9 | 12:40 - 12:45 | Flat, upside-down (resting on broad top) |
| 10 | 12:45 - 12:50 | Flat, normal position (resting on broad bottom) |
| 11 | 12:50 - 12:55 | No change |
| 12 | 12:55 - 13:00 | Flat, upside-down (resting on broad top) |
| 13 | 13:00 - 13:05 | Flat, normal position (resting on broad bottom) |
| 14 | 13:05 - 13:10 | Head node powered down |
Test Results
Acceleration Graph and Data
Side, back (resting on back wall)
| Time | Accel-X (m/s^2) | Accel-Y (m/s^2) | Accel-Z (m/s^2) |
|---|---|---|---|
| 2024-06-07 12:01:00 | 482 | 16287 | -27 |
| 2024-06-07 12:02:00 | 440 | 16223 | -19 |
| 2024-06-07 12:03:00 | 519 | 16289 | -17 |
| 2024-06-07 12:04:00 | 498 | 16276 | 51 |
Side, front (resting on front wall)
| Time | Accel-X (m/s^2) | Accel-Y (m/s^2) | Accel-Z (m/s^2) |
|---|---|---|---|
| 2024-06-07 12:31:00 | |||
| 2024-06-07 12:32:00 | 57 | -16343 | -1572 |
| 2024-06-07 12:33:00 | 49 | -16375 | -1600 |
| 2024-06-07 12:34:00 | -19 | -16260 | -1508 |
Side, right (resting on right side wall)
| Time | Accel-X (m/s^2) | Accel-Y (m/s^2) | Accel-Z (m/s^2) |
|---|---|---|---|
| 2024-06-07 12:11:00 | 16629 | -143 | -214 |
| 2024-06-07 12:12:00 | 16642 | -111 | -200 |
| 2024-06-07 12:13:00 | 16624 | -140 | -181 |
| 2024-06-07 12:14:00 | 16658 | -155 | -152 |
Side, left (resting on left side wall)
| Time | Accel-X (m/s^2) | Accel-Y (m/s^2) | Accel-Z (m/s^2) |
|---|---|---|---|
| 2024-06-07 12:21:00 | -16107 | 105 | 1266 |
| 2024-06-07 12:22:00 | -16073 | 147 | 1288 |
| 2024-06-07 12:23:00 | -16051 | 119 | 1271 |
| 2024-06-07 12:24:00 | -16048 | 141 | 1268 |
Flat, upside-down (resting on broad top)
Flat, normal position (resting on broad bottom)
Angular Velocity Graph and Data
ToC
Observations & Additional Info
- Measurements were made at the top of every minute. If there was a new measurement less than 60 seconds, then the latest measurement in that 60-second window was recorded.
- The first measurement in a 5-minute window was discarded as it could have possibly contained values as container was flipped from side to side.
- The IMU not sending any measurements when resting on both broad sides was a surprise.