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An IMU Evaluation Method Using a Signal Grafting Scheme

As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signa...

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Detalles Bibliográficos
Autores principales: Niu, Xiaoji, Wang, Qiang, Li, You, Zhang, Quan, Jiang, Peng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2016
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4934280/
https://www.ncbi.nlm.nih.gov/pubmed/27294932
http://dx.doi.org/10.3390/s16060854
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author Niu, Xiaoji
Wang, Qiang
Li, You
Zhang, Quan
Jiang, Peng
author_facet Niu, Xiaoji
Wang, Qiang
Li, You
Zhang, Quan
Jiang, Peng
author_sort Niu, Xiaoji
collection PubMed
description As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade IMU is needed, and can be used to evaluate numerous IMUs. Thus, SG is effective and economic because all data from the tested IMU is collected in the lab; (b) it is a general approach to compare navigation performances of various IMUs by using the same reference data; and, finally, (c) through SG, one can first evaluate an IMU in the lab, and then decide whether to further test it. Moreover, this paper verified the validity of SG to both medium- and low-grade IMUs, and presents and compared two SG strategies, i.e., the basic-error strategy and the full-error strategy. SG provided results similar to field tests, with a difference of under 5% and 19.4%–26.7% for tested tactical-grade and MEMS IMUs. Meanwhile, it was found that dynamic IMU errors were essential to guarantee the effect of the SG method.
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spelling pubmed-49342802016-07-06 An IMU Evaluation Method Using a Signal Grafting Scheme Niu, Xiaoji Wang, Qiang Li, You Zhang, Quan Jiang, Peng Sensors (Basel) Article As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade IMU is needed, and can be used to evaluate numerous IMUs. Thus, SG is effective and economic because all data from the tested IMU is collected in the lab; (b) it is a general approach to compare navigation performances of various IMUs by using the same reference data; and, finally, (c) through SG, one can first evaluate an IMU in the lab, and then decide whether to further test it. Moreover, this paper verified the validity of SG to both medium- and low-grade IMUs, and presents and compared two SG strategies, i.e., the basic-error strategy and the full-error strategy. SG provided results similar to field tests, with a difference of under 5% and 19.4%–26.7% for tested tactical-grade and MEMS IMUs. Meanwhile, it was found that dynamic IMU errors were essential to guarantee the effect of the SG method. MDPI 2016-06-10 /pmc/articles/PMC4934280/ /pubmed/27294932 http://dx.doi.org/10.3390/s16060854 Text en © 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Niu, Xiaoji
Wang, Qiang
Li, You
Zhang, Quan
Jiang, Peng
An IMU Evaluation Method Using a Signal Grafting Scheme
title An IMU Evaluation Method Using a Signal Grafting Scheme
title_full An IMU Evaluation Method Using a Signal Grafting Scheme
title_fullStr An IMU Evaluation Method Using a Signal Grafting Scheme
title_full_unstemmed An IMU Evaluation Method Using a Signal Grafting Scheme
title_short An IMU Evaluation Method Using a Signal Grafting Scheme
title_sort imu evaluation method using a signal grafting scheme
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4934280/
https://www.ncbi.nlm.nih.gov/pubmed/27294932
http://dx.doi.org/10.3390/s16060854
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