Inertial measurements processing for sway angle estimation in overhead crane control applications

The main scope of this paper is to propose data fusion algorithms suitable for estimation of gantry crane hook tilt angles based on the MEMS accelerometer and gyroscope readings. Such methods should merge useful information from both these sensors into a better estimate than those based on the measurement from the single device. In the first place, these algorithms should deal with the typical measurement noise which the MEMS readings are known to suffer from. Besides these errors, also the impact of the angular acceleration caused by the crane hook motion and translational acceleration due to cart motion distorting the gravitational vector sensing should be taken into account when designing the data fusion algorithm. The presented methods will be compared by means of experimental tests using a wireless inertial measurement unit developed at our workplace. The goal is to verify practical viability of the algorithms aiming at delivery of tilt angles information which may be used in an active anti-sway stabilization system.