A Comparison Procedure for IMUs Performance

• Type: Article in International Conference Proceedings Book
• Date: 2019

Authors

Tiago Mendonça (Author) Other; Diana Guimarães (Author) Other; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Pages: 331-344

19th EPIA Conference on Artificial Intelligence, EPIA 2019

3 September 2019 through 6 September 2019

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00R-0M4

DOI: 10.1007/978-3-030-30244-3_28

Abstract (EN): Inertial measurement units (IMU) are, typically, a cluster of accelerometers, gyroscopes and magnetometers. Its use was introduced with military applications, being, nowadays, widely common on industrial applications, namely robot navigation. Since there are a lot of units in different cost ranges, it is proposed, in this paper, a procedure to compare their performance in tracking tasks. Once IMU samples are unavoidably corrupted by systematic and stochastic errors, a calibration procedure (without any external equipment) to identify sensors¿ error models and a Kalman filter implementation to remove white noise are suggested. Then, the comparison is carried out over two trajectories, square and circular paths, respectively, being described by a robotic arm, which acts as reference. The results show that different manufacturing quality units can track, with success, orientation references but are incapable to perform position tracking activities. © 2019, Springer Nature Switzerland AG.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 14