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A Comparative Experimental Evaluation of IMU Designs

[+] Author Affiliations
Bahram Ravani, Jason L. Sherrett, Ty A. Lasky

University of California - Davis, Davis, CA

Paper No. DETC2015-46358, pp. V009T07A055; 10 pages
doi:10.1115/DETC2015-46358
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME

abstract

This paper presents the design of an experimental platform for rapid prototyping, testing, evaluation, and validation of different sensor types and configurations for Inertial Measurement Unit (IMU) applications. Two example IMU designs are rapidly prototyped and tested on this experimental platform. The first design was based on a triad of gyroscopes, three dual-axis accelerometers and a triad of magnetometers to provide information on the Earth’s magnetic field for the purpose of bounding the attitude drift. The second system was based on twelve accelerometers and again a triad of magnetometers. An Unscented Kalman Filtering technique is used to fuse the IMU and magnetometer data in both cases for an Inertial Navigation System (INS). Test results are presented comparing the two IMU designs to each other and to ground truth with minimal magnetic interference and with introduction of deliberate magnetic interference. The results indicate that the two systems have excellent performance for high-speed applications, while at lower speeds the first design outperforms the second design. It is also shown that external magnetic disturbance degrades the performance of both designs.

Copyright © 2015 by ASME

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