Tri-Adaptive Method For Improving The Resolution of MEMS Digital Sensors

This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2883259, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Tri-adaptive Method for Improving the

Resolution of MEMS Digital Sensors
Gong-Xu Liu, Student Member, IEEE, Ling-Feng Shi, Guang-Wei Li and Li-Ye Cheng, Member,
IEEE
T ABLE Ⅰ
T HE ABBREVIATIONS OR SYMBOL USED IN THIS ARTICLE
Symbol Quantity
Abstract—The Micro-electromechanical S ystems (MEMS ) Range1 ±250°/s
digital sensors have been widely used in various fields, e.g. Range2 ±500°/s
industrial application, navigation and positioning, etc. In order to Range3 ±1000°/s
make full use of the resolution of sensor, people tend to choose the Range4 ±2000°/s
lower range, which often leads to the out-of-range problem. In μ Scale Factor
fact, it is a tradeoff among resolution, range and efficiency. It is A Data Reading by SPI/I2C
possible to optimize two of these, but difficult to optimize all three. S Estimated Range
Therefore, a tri-adaptive method i.e., adaptive range, adaptive s Second
SF Sampling Frequency
sampling frequency and adaptive output frequency, is proposed SF0 Default Sampling Frequency 1000 Hz
in this paper. We set up two test platforms based on the two OF Output Frequency
common MEMS digital sensors which are MPU6050 and OF0 Default Output Frequency 100Hz
MPU9250, respectively. The turntable experiments and numerical bj T he output data under OF, j is the sequence label
simulation experiments are conducted to verify the performance ai T he output data under OF0, i is the sequence label
of the proposed method. The results show that the proposed MEMS Micro-electromechanical Systems
method can significantly improve resolution based on the tradeoff MPU Motion Processing Unit
among resolution, range and efficiency. Besides, the proposed MCU Micro Controller Unit
SPI Serial Peripheral Interface
method is of generalization, which can be applied in industrial 2
IC Inter IC Bus
robots, medical electronics and other fields. LSB Least Significant Bit
Index Terms— adaptive output frequency, adaptive range,
adaptive sampling frequency, MEMS digital sensors, resolution. is very suitable for low-cost application, many scholars began
to commit to the study of high-end application of MEMS digital
I. INT RODUCT ION sensor, including the study of data processing algorithms [12]-
[14], adaptive strategy [15]-[17], etc. One of the technical
D IGITAL sensors are the extension of human facial features,
which have been widely used in various fields from social
development to human life, e.g., medical electronics [1]
bottlenecks is how to improve the sensor resolution. In fact,
because of the limitations of semiconductor integration process,
industrial application [2], wearable devices [3], information such as the mismatch of its resonant modes of vibration [18]
fusion [4], navigation and positioning [5], etc. Usually, the and electrostatic pull-in instability of MEMS [19], the
digital sensors are composed of amplifier, A/D converter, resolution of MEMS digital sensors is difficult to be improved
microcontroller unit (MCU), memory, communication in manufacturing process. In other words, the resolution of
interface, etc. The Micro-electromechanical Systems (MEMS) digital sensor can be improved by data processing algorithm.
digital sensors [6], [7], such as MPU6050 and MPU9250, Usually, the resolution is inversely proportional to the range
which are manufactured by the processing technology of and it is discretized in terms of the range and varies from the
range. In order to meet the accuracy needs, people tend to
integrated circuits, stand out among various digital sensors
choose the lower range of sensors, which may lead to out-of-
because of miniaturization and multi-functionalization. Around
range problem. In fact, it is a tradeoff among resolution, range
the world, many countries keep promoting the study of MEMS
digital sensors, including MEMS accelerometer [8], MEMS and efficiency. It is possible to optimize two of these, but
gyroscope [9], MEMS magnetometers [10] and MEMS difficult to optimize all three.
barometer [11] and so on. Although the MEMS digital sensor In general, there are two major categories of methods to solve
the problem. The first method is to estimate the range in
Manuscript received May 19, 2018; revised August 03, 2018 and advance and keep the range unchanged in the process of data
September 28, 2018; accepted November 09, 2018; acquisition and output. Obviously, this method is less robust,
G. X. Liu, L. F. Shi, G. W. Li are with School of Electronic Engineering, and cannot eliminate out-of-range problem. The second method
Xidian University, Xi’an, Shaanxi, 710071 PR China (e-mail:
liugx@stu.xidian.edu.cn; lfshi@mail.xidian.edu.cn; is to make the range adaptive, which can solve the out-of-range
guangweili@stu.xidian.edu.cn). problem. However, the resolution degrades abruptly as the
L. Y. Cheng is with the Fifth Electronics Research Institute of Industry range increases in the available selection of ranges. Hence, it
and Information Technology, Guangzhou, Guangdong, 510610, PR China (e-
mail:chengliye4213@126.com). generates an interesting discussion about whether there is a way
L. F. Shi (corresponding author; phone: 029-8820-4358; fax: 029-8820- to improve the resolution in each range of the sensor by new
4358; e-mail: lfshi@mail.xidian.edu.cn). data processing method. To some extent, this paper focuses
0278-0046 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2883259, IEEE
researching the method about how to use low-end sensors as

Sensor Configuration
high-end sensors. In order to improve the resolution of the
sensor, a tri-adaptive method, i.e., adaptive range, adaptive
sampling frequency and adaptive output frequency, is proposed Data Reading:A
in this paper. The proposed method is an extended method (SPI)
based on the second method mentioned above. The core idea of
the proposed method is that two heads are better than one, i.e., Y
Full Range? Error/ Overflow
several low-resolution data can be combined to generate high
resolution data. Overall, the innovative points of this paper N
mainly highlight the following three aspects. First, the idea of
tri-adaptive method is proposed for the first time, which Range Estimation
combines the range, sampling frequency and output frequency

organically together, it is a tradeoff and optimization among
Sampling Frequency
resolution, range and efficiency. Second, the mathematical Estimation
form of the tri-adaptive method is simple and efficient. Finally ,
the idea of tri-adaptive method is potential to be of interest for
Output Frequency
a large audience, and can be applied in many fields. It is not Estimation
impossible that the low-end sensors are used as high-end
sensors to some extent.
Data Reading
The remainder of this paper is organized as follows. Section (SPI)
II describes the algorithm's design process in detail. In order to
verify the proposed algorithm, the two test platforms based on
MPU6050 and MPU9250 respectively, are introduced in Data Fusion
section III. After that, the experimental results and discussion
are given in section Ⅳ. Finally, section Ⅴ summarizes the
conclusion and application in the industry. Output Data
II. A LGORIT HM DESIGN PROCESS Fig. 1. T he flow chart of the tri-adaptive method proposed in this paper.
In order to simply and clearly explain the main features of Method 3. The Tri-adaptive Method
the proposed method, let us review the characteristics of digital 1: input (A)
𝑅𝑎𝑛𝑔𝑒1, 𝑤ℎ𝑒𝑛 𝐴 ≤ 𝑅𝑎𝑛𝑔𝑒1
sensors first. For digital sensors, the most remarkable feature is 𝑅𝑎𝑛𝑔𝑒2, 𝑤ℎ𝑒𝑛 𝑅𝑎𝑛𝑔𝑒1 < 𝐴 ≤ 𝑅𝑎𝑛𝑔𝑒2
the discreteness of output. For example, the output frequency is 2: S = {
𝑅𝑎𝑛𝑔𝑒3, 𝑤ℎ𝑒𝑛 𝑅𝑎𝑛𝑔𝑒2 < 𝐴 ≤ 𝑅𝑎𝑛𝑔𝑒3
100Hz, i.e., the time interval between two adjacent output 𝑅𝑎𝑛𝑔𝑒4, 𝑜𝑡ℎ𝑒𝑟𝑤ℎ𝑖𝑠𝑒
S
values is 0.01 second. It is unreasonable to think that the true 3:μ =
𝑅𝑎𝑛𝑔𝑒1
value does not change within 0.01 second. In fact, the true value 4:SF = μ ∙ SF0
is always changing even within a 0.01 second intervals. 5:OF = μ ∙ OF0
1
However, it is entirely reasonable to believe that the mean of 6:ai = ∑μj=1 bj
μ
the true value is constant within 0.01 second in mathematical 7: output (a)
statistics. In other words, it is reasonable to transform the data
The flow chart of the tri-adaptive method is shown in Fig. 1,
acquired in high frequency to the equivalent data in low
and the corresponding mathematical implementation is shown
frequency by weighting the sum of the data acquired in high
in method 3. The proposed method will be discussed in detail
frequency, whose essence is data fusion. The following is a
in the following.
brief description of the design process of the proposed method,
First, we should configure the sensor, including the
which may help readers understand the design ideas of the
initialization of sampling frequency, output frequency and
method well. The first is how to estimate the range adaptively.
range, etc. As shown in table 1, the default sampling frequency
It is a prerequisite to make maximu m use of sensor resolution.
is 1000 Hz (SF0). It is worth mentioning that the
If the range is the minimum range, the resolution can hardly be
communication with all registers of the device is performed
improved because of the limitations of the sensor itself. Namely ,
using I2 C at 400k Hz or SPI at 1M Hz. For applications
the ceiling of sensor resolution is the resolution corresponding
requiring faster communications, the sensor and interrupt
to its minimum range. In order to improve the resolution of the
registers may be read using SPI at 20M Hz. The default output
sensors, the data fusion is necessary if the estimated range is
frequency is 100 Hz (OF0), which can meet the most real-time
not the minimum range. In order to keep the output frequency
application requirements . The initial range is set to the
in sync with the sampling frequency, both of them should vary
maximu m range, which will be explained in the following.
proportionately. For data fusion, the simplest way is to take the
Then, the data reading ‘A’ can be acquired. And we should
mean of the redundant data. The redundant data indicates that
judge whether ‘A’ exceeds the maximu m range. If the judgment
more data can be acquired per unit time by increasing the
is yes, then output error or overflow information. Or else, then
sampling frequency and output frequency synchronously,
followed the core of the algorithm. It is important to note that
which can be combined to generate high resolution data.
the proposed method can work only when the measured value frequency should be increased, and the new sampling frequency
is less than the maximu m range the sensors can be configured. is estimated according to (3).
SF = μ ∙ SF0 (3)
A. Range Estimation
The corresponding estimation of the output frequency is
In order to match the appropriate range within a limited time shown in (4).
and search steps, we absorb the idea of a hash lookup table [20], OF = μ ∙ OF0 (4)
[21], and our method is as follows: It can be seen from (3) and (4), the sampling frequency and
First, the initial range is set to the maximu m range. The output frequency change in the same proportion, i.e., both have
reading value (A) can be used to estimate the current range (S) the same proportional transformation. In fact, the output
by the following formula. frequency can be considered as secondary sampling, i.e.
𝑅𝑎𝑛𝑔𝑒1, 𝑤ℎ𝑒𝑛 𝐴 ≤ 𝑅𝑎𝑛𝑔𝑒1
resampling. Therefore, the output frequency can be regarded as
S={
(1) a function of the sampling frequency. The linear transformation
𝑅𝑎𝑛𝑔𝑒4, 𝑜𝑡ℎ𝑒𝑟𝑤ℎ𝑖𝑠𝑒 relation between the input and output is to facilitate data
Hereto, we only need one search step to estimate the synchronization when taking the requirements of real-time data
appropriate range, and the time complexity is log (1). processing into consideration.
The required working hypotheses for the applicability of the The following will discuss how to fuse the redundant data.
method will be properly stated in the following. In particular,
C. Data Fusion
to properly select the range and sampling/output frequency, it
is first necessary to sample the measured quantity A. Then, the The schematic diagram of data fusion is as shown in Fig. 2,
optimal selections can be used for the next quantity. However, and the corresponding mathematical expression is shown in (5).
if the quantity to be measured is rapidly varying between 𝑁𝑒𝑤 𝐷𝑎𝑡𝑎 = W1 • Data1 + W2 • Data2 +··· +Wn • Datan (5)
successive sampling instants, it could happen that the optimal Low Resolution
selection obtained for certain sampling instant is not so for the
successive one. It is therefore necessary to assume that W1 W2 Wn
variations of the measured quantity are rather slow compared to
Data1 + Data2 + … + Datan
the sampling time. In fact, we can evaluate the required working
hypotheses quantificationally for the applicability of the
method unnecessary. The method used in this paper tends to
increase the sampling frequency with the change in range, the
maximu m variations allowed from a sampling perspective will High Resolution New Data
change with the increase in sampling frequency. The maximal
variation of the measured quantity is only 0.25° within 0.001 Fig. 2. T he schematic diagram of data fusion.
second in all the ranges. Hence, it is necessary to assume that
Where Wi (i ∈ [1, n] ) is the weight factor. The simplest
the successive variations of the measured quantity are less than
fusion method is to take the mean of the redundant data, i.e.,
0.25° within 0.001 second.
W1=W2=…= Wn, as shown in (6).
The next step is to estimate the sampling frequency and 1 μ
output frequency to acquire the redundant data for data fusion. ai = ∑j =1 bj (6)
μ
Where b j and ai have been defined in table 1.
B. Sampling/Output Frequency Estimation
In fact, the essence of weight allocation of data is the
The sampling frequency and output frequency can also affect numerical integration. The numerical integration methods have
the resolution of data output. The analysis is as follows. The been extensively studied such as interpolation polynomials [22],
output of the digital sensor is discrete, and the output result is Newton-Cotes formula [23], composite numerical integration
the statistical value of a specific time period, which is the [24], Romberg integration [25], Gauss quadrature formulas [26]
inverse of the output frequency. Based on the aforementioned and so on. It is worth mentioning that the method studied in this
analysis, we can introduce the following ideas to make up for paper is aimed at real-time data processing. Thus, it requires the
the defect of decreased resolution of measured value caused by complexity of the data fusion algorithm to be as low as possible.
the increase of the range. The idea is that if the resolution of the In terms of the precision of data fusion, the equal weight data
measured value decreases in unit time, we can increase the
sampling frequency and output frequency accordingly and fuse
redundant data to improve the resolution. The following will
discuss how to adjust the sampling frequency and output
frequency according to the estimated range. The factor μ is
defined to indicate the rate of the current range and the
minimum range, as shown in (2).
S
μ= (2)
𝑅𝑎𝑛𝑔𝑒1
To a large extent, μ determines the deviation degree of the
resolution of current measurement and the highest resolution.
The larger μ, the worse the resolution is. In order to suppress
the tendency of resolution deterioration, the sampling Fig. 3. T he physical photo of the hardware based on MPU6050
X-axis of Gyroscope
300 Z-axis of Gyroscope
Y-axis of Gyroscope
200
Degree/Second
100
-100
-200
Fig. 4. T he physical photo of the hardware based on MPU9250.

-300
fusion method adopted here is not the highest among various 0 1 2 3 4 5 6 7 8 9
numerical integration methods, but a simple form with good Time(Second)
tradeoff between precision and computational complexity. The

Fig. 6. T he output result based on method 1 (It is assumed that Range1 is the
following will introduce the test platforms and the experiment al best one estimated in advance) Obviously, method 1 is less robust, and cannot
verification and discussion of the tri-adaptive method. eliminate out-of-range problem.
III. TEST PLAT FORM INT RODUCTION 400 X-axis of Gyroscope

Z-axis of Gyroscope
In order to verify the proposed algorithm, we set up two test Y-axis of Gyroscope
300
platforms, i.e., the inertial measurement units (IMUs) based on
MPU6050 and MPU9250, respectively. MPU6050 has an 200
embedded 3-axis MEMS gyroscope and a 3-axis MEMS
Degree/Second
100
accelerometer. MPU9250 is a multi-chip module (MCM)
consisting of two dies integrated into a single QFN package. 0
One die houses the 3-axis gyroscope and the 3-axis -100
accelerometer. The other die houses the AK8963 3-axis
magnetometer from Asahi Kasei Microdevices Corporation. -200
Hence, the MPU9250 is a 9-axis Motion Tracking device. The -300

physical photo of the hardware based on MPU6050 and
0 1 2 3 4 5 6 7 8 9
MPU9250 are as shown in Fig. 3 (Test Platform 1) and Fig. 4 Time(Second)
(Test Platform 2), respectively. The RS-232 and the BUS can
be used to communicate with the PC. The MCU can control the Fig. 7. T he output result based on method 2. Obviously, the range-adaption
output of the raw data, which are stored in an Excel file and method can solve the out -of-range problem.
imported into MATLAB(R2017a) for processing and analysis use the left foot as the support shaft and swing the right foot
by the proposed and compared algorithms. forward and back quickly and periodically. The results are as
The experimental verification and discussion will be shown in Fig. 6 and Fig. 7. In method 1, it is assumed that
introduced in detail in the next section. Range1 is the best one estimated in advance. Obviously, the
range-fixing method is less robust, and cannot eliminate out-of-
range problem. On the contrary, the range-adaption method can
solve the out-of-range problem. The test results based on Test
Platform 1 are consistent with those of Test Platform 2. This
section mainly explains the comparative results of method 1
and method 2 to the readers to explain what is the out-of-range
problem and the importance of adaptive range. The results in
‘foot experiment’ are difficult to quantify for lack of third-party
evaluation platform. The quantitative evaluation of the
proposed method and the existing method will be shown in
section B.
B. Verification of The Proposed Method
Fig. 5. T he way to mount the IMU on pedestrian’s right foot. In order to evaluate the resolution based on the proposed
algorithm strictly and quantitatively, we conducted the
IV. EXPERIMENTAL VERIFICAT ION AND DISCUSSION following experiments. The IMUs are fixed on the turntable,
and the rotating speed (theoretical value) can be calculated
A. Comparison Between Method 1 and Method 2
accurately by adjusting the centripetal force, when given the
First of all, we conduct several experiments to compare the turning radius. To make the results more convincing, we
performance of methods 1 and 2. The IMU based on MPU9250 repeated the experiment five times. The stabilization duration
was mounted on the tester’s right foot as shown in Fig. 5. We
the worst resolution of the proposed method based on Test

T ABLE Ⅱ
T HE RESULTS BASED ON TEST PLATFORM 1 Platform 1 and the percentage of improvement compared with
Resolution Resolution the inherent resolution of the sensor in each range. Obviously,
Angular
Duration(s) (°/s/LSB) (°/s/LSB) in Range2, Range3 and Range4, the percentage of improvemen t
Velocity (°/s)
(Method 2) (Method 3) based on the proposed method is 23.46%, 40.90% and 33.74%,
50 10 0.00763±E 0.00763±E respectively. Similar results are as shown in table 4 (Test
100 10 0.00763±2.1E 0.00763±2.1E Platform 2), where in Range2, Range3 and Range4, the
150 10 0.00763±2.6E 0.00763±2.6E
percentage of improvement of the proposed method is 22.77%,
10
36.30% and 31.44%, respectively. The reason for the
200 0.00763±3.1E 0.00763±3.1E differences may come from the two test platforms themselves
250 10 0.00763±3.2E 0.00763±3.2E and the measurement errors.
300 10 0.01526±4.1E 0.01103±3.1E Besides, in order to compare the performance of each method
350 10 0.01526±4.1E 0.01145±3.2E
quantitatively, we define the average resolution (AR) of the
10
whole range.
400 0.01526±4.3E 0.01189±3.3E |𝑅𝑎𝑛𝑔1| |𝑅𝑎𝑛𝑔2 |−| 𝑅𝑎𝑛𝑔1| |𝑅𝑎𝑛𝑔3| −|𝑅𝑎𝑛𝑔2 |
AR = ∗ 𝑟1 + ∗ 𝑟2 + ∗ 𝑟3 +
450 10 0.01526±4.5E 0.01224±3.1E
|𝑅𝑎𝑛𝑔4|
|𝑅𝑎𝑛𝑔4 |−| 𝑅𝑎𝑛𝑔3|
|𝑅𝑎𝑛𝑔4| | 𝑅𝑎𝑛𝑔4|
∗ 𝑟4 (7)
500 10 0.01526±4.4E 0.01236±3.4E |𝑅𝑎𝑛𝑔4|
Where r1, r2, r3 and r4 are provided in table 3 or table 4.
600 10 0.03049±4.6E 0.02054±3.3E The average resolution of the compared methods is as shown
700 10 0.03049±4.7E 0.02098±3.5E in Fig. 9. The results show that the proposed method improves
800 10 0.03049±4.8E 0.02138±4.1E the resolution by 22.5% compared with method 2 and by 47.9%
900 10 0.03049±5.1E 0.02156±3.7E
compared with method 1.
1000 10 0.03049±6.3E 0.02164±3.8E
1100 10 0.061±11.3E 0.04417±6.1E
0.07
1200 10 0.061±12.1E 0.04448±6.4E The Resolution Based on Method 2
The Resolution Based on The Proposed Method (Method 3)
10 0.06
1300 0.061±13.5E 0.04475±6.5E
1400 10 0.061±14.7E 0.04496±6.7E 0.05
10
Resolution(°/s/LSB)
1500 0.061±15.6E 0.04512±6.4E 0.04
1600 10 0.061±15.5E 0.04534±6.9E

0.03
1700 10 0.061±16.2E 0.04547±7.2E
1800 10 0.061±16.7E 0.04554±7.1E 0.02
1900 10 0.061±18E 0.04561±7.4E 0.01
Note: E=0.00001, a parameter that measures the magnitude of the

0.00
error of repeated measurements. 0 250 500 750 1000 1250 1500 1750 2000 2250
°/s
of angular velocity is 10 seconds each time. According to the
difference between the measured value (the mean in 10 seconds)
and the theoretical value, and we can estimate the resolution at Fig. 8. T he comparison of resolution in different ranges.
each rotating speed, as shown in Table 2. It is worth noting that
the parameter E increases as the angular rate increases. The
main reason for the analysis is that the increase in angular 0.07
velocity leads to greater measurement error due to mechanical
vibration of the turntable or the deterioration of the resolution. 0.06
Method 1
The comparison results of resolution in different ranges
Average Resolution(°/s/LSB)
Method 2
0.05
between method 2 (inherent accuracy) and method 3 are as The Proposed Method In This Paper
shown in Fig. 8. The red dot is the corresponding resolution of 0.04

each discrete angular rate, and the black solid line is the
inherent resolution of each range, i.e., the resolution based on 0.03
method 2.
0.02
By analyzing table 2 and Fig. 8 carefully, we can find that
the precision of data output by the proposed algorithm hardly 0.01
changes with the rotational speed when the speed is less than
250°/s, because the resolution of minimum range is the ceiling 0.00
the sensor can be configured. Then, when the range switches,

the resolution has a noticeable mutation, and then begins to
slowly deteriorate. Compared with the resolution of the Fig. 9. T he average resolution of the compared methods.
intrinsic range, the proposed algorithm can alleviate the trend
of deterioration of resolution to some extent. Table 3 quantifies
T ABLE III
T HE RESULTS BASED ON TEST PLATFORM 1
Inherent Accuracy T he Worst Resolution of The Proposed
Range(°/s) Improvement Percentage (%)
(°/s/LSB) Method (°/s/LSB)
Rang1 0.00763 (r1) 0.00763 0
Rang2 0.01526 (r2) 0.01236 23.46
Rang3 0.03049 (r3) 0.02164 40.90
Rang4 0.06100 (r4) 0.04561 33.74
T ABLE IV
T HE RESULTS BASED ON TEST PLATFORM 2
Inherent Accuracy T he Worst Resolution of The Proposed
Range(°/s) Improvement Percentage (%)
(°/s/LSB) Method (°/s/LSB)
Rang1 0.00763 (r1) 0.00763 0
Rang2 0.01526 (r2) 0.01243 22.77
Rang3 0.03049 (r3) 0.02237 36.30
Rang4 0.06100 (r4) 0.04641 31.44
method can improve the resolution by 22.5% compared with

C. Generalization of The Proposed Method
the inherent resolution. It is worth noting that the resolution
In order to verify the effectiveness of the proposed method, based on the proposed method fluctuates within certain
we focus on the particular sensor i.e. the MPU6050/9250 to amplitude when given the range. The amplitude of fluctuation
conduct aforementioned experiments. In order to verify the increases as the range increases. There are two reasons for this
generalization of the proposed method that can be applied to phenomenon. On the one hand, the raw data are generated
any digital sensor, we conduct several numerical simulation randomly, different from the stable data of turntable experimen t ,
experiments. The proposed method can be potentially applied where the speed of rotation can be strictly controlled, so the
to any digital sensor, because the idea or the working principle output fluctuates in a tiny range near a theoretical value. On
is universal. When applying the proposed method to various the other hand, for relatively large range, the resolution is
digital sensor, the main thing to think about is that the range relatively worse. And the generated data also distribute in
maybe different. For example, for the MPU9250/MPU60 50 relatively large range. All of these factors can cause the
considered in the paper, only the ±250°/s, ±500°/s, ±1000°/s and resolution to fluctuate within certain amplitude and the
±2000°/s values can be selected. Generally, the dimension can amplitude of fluctuation increases as the range increases.
be ignored, and the range of other sensors may be ±100, ±200,
±800 and so on. However, the calculation formula involved in D. Discussion
the algorithm is invariant. The test results show that the proposed algorithm can
First, we assume that certain digital sensor has more ranges, improve the resolution of the sensor in both verification
which are in turn range1, range2, rang3, range4, etc. The platforms. Besides, the numerical simulation experiment s
parameters of the digital sensor are shown in table 5. indicate that the proposed method is of generalization, i.e., the
T ABLE V idea several low-resolution data can be combined to generate
T HE PARAMETERS OF CERTAIN DIGITAL SENSOR high-resolution data, is universal, which can be potentially
Range Quantity Resolution applied to any digital sensor.
range1 0~200 0.01 Last but not least, we give some supplementary explanations
range2 200~400 0.04 about the proposed method.
range3 400~600 0.23
1) For most digital sensors, its high range is integer times of
range4 600~1000 0.69
… … … the lowest range. When the rule is not satisfied, the factor μ
should be rounded.
2) As the premise of adaptive range selection, it is necessary
to assume that the successive variations of the measured
quantity are less than 0.25° within 1 millisecond (i.e. the
MPU6050/9250).
3) There are many ways to determine the weights for data
fusion. Making the weight equal in this paper is only a simple
and effective one.
4) The data quality should be monitored for integrity, e.g.,
data loss, data overflow and other abnormal behaviors may
worsen the fusion effect. Hence, a data validation scheme is
required to identify and eliminate the sensor faults or outliers
Fig. 10. T he numerical simulation experiments to test the generalization of or inconsistencies before data fusion.
the proposed method. The red line is the inherent resolution of each range,
and the blue line is the resolution based on the proposed method.
V. CONCLUSION
We generate 1000 data in each range randomly. The results In order to solve the tradeoff issue among resolution, range
are as shown in Fig.10. The results show that the proposed and efficiency, a tri-adaptive method, i.e., adaptive range,
adaptive sampling frequency and adaptive output frequency, is [16] J. Fei, C. Lu, “Adaptive sliding mode control of dynamic systems using
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2018.
Guang-Wei Li received the B.Eng. degree

in electronic and information engineering
from Hebei University of Science &
Technology, China, in 2016. At present, he
is pursuing his Master of Engineering at
Xidian University, China. His research
area includes circuit design, embedded
system and Navigation and positioning of
unmanned aerial vehicle.
Li-Ye Cheng received the B.S. degree in

electronical engineering from Ocean
University of China, Qingdao, China, in
2010, received the M.S. degree and Ph. D
degree in Xidian University, Xi’an, China,
in 2012 and 2016. His current interests
focus on reliability of RF electronic
equipment and integration of electronic
system design.

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This article has been accepted for publication in a future issue of this journal, but has not been

Tri-adaptive Method for Improving the

researching the method about how to use low-end sensors as

combines the range, sampling frequency and output frequency

Fig. 4. T he physical photo of the hardware based on MPU9250.

numerical integration methods, but a simple form with good Time(Second)

tradeoff between precision and computational complexity. The

III. TEST PLAT FORM INT RODUCTION 400 X-axis of Gyroscope

embedded 3-axis MEMS gyroscope and a 3-axis MEMS

Hence, the MPU9250 is a 9-axis Motion Tracking device. The -300

the worst resolution of the proposed method based on Test

1500 0.061±15.6E 0.04512±6.4E 0.04

1600 10 0.061±15.5E 0.04534±6.9E

1900 10 0.061±18E 0.04561±7.4E 0.01

Note: E=0.00001, a parameter that measures the magnitude of the

shown in Fig. 8. The red dot is the corresponding resolution of 0.04

the sensor can be configured. Then, when the range switches,

method can improve the resolution by 22.5% compared with

Guang-Wei Li received the B.Eng. degree

Li-Ye Cheng received the B.S. degree in

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