传感器噪声特性和校准误差对选择 IMU 传感器融合算法的影响

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC Sensors and Actuators A-physical Pub Date : 2024-09-05 DOI:10.1016/j.sna.2024.115850

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引用次数: 0

摘要

本文重点研究消费级 MEMS-IMU 在 "慢 "方向变化和 "短 "时间应用中的精确定位。本文开发了一个仿真平台，用于预测已知噪声规格的 MEMS-IMU 的合适算法，从而改进了类似的工作。在仿真平台中使用了通过实验测量的两个商用级 IMU（MPU9250 和 BNO055）的噪声特性，以生成仿真数据，并评估一些流行的方位估计算法和两个基于卡尔曼滤波器的新算法。使用电磁跟踪器作为参考传感器，使用相同的 IMU 进行了实际实验。两种新改进算法的输出方向结果与模拟和实际实验中的其他算法进行了比较。我们发现，"最佳 "算法的选择因传感器模块内各个传感器的噪声特性而异。对于两个低成本消费级 IMU，所测试的两种性能最佳的新算法可实现<1˚ RMS 角度误差。

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Effect of sensor noise characteristics and calibration errors on the choice of IMU-sensor fusion algorithms

This paper focuses on accurate and precise orientation estimation with consumer-grade MEMS-IMUs for ‘slow’ orientation change and ‘short’-time applications. A simulation platform is developed to predict a suitable algorithm for a MEMS-IMU of known noise specifications, improving similar works. Experimentally measured noise characteristics of two commercial grade IMUs (MPU9250 and BNO055) are used in the simulation platform to generate simulated data and evaluate some popular orientation estimation algorithms along with two new Kalman filter-based algorithms. Real experiments are conducted with the same IMUs using an electromagnetic tracker as reference sensor. The output orientation results for two new improved algorithms are compared with other algorithms in simulations and real experiments. We show that the choice of the ‘best’ algorithm varies with the noise characteristics of individual sensors within the sensor module. The two new best-performing algorithms tested achieve<1˚ RMS angle error for the two low-cost consumer-grade IMUs.

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来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...