Abstract
Nowadays, navigation systems are becoming common in the automotive industry due to advanced driver assistance systems and the development of autonomous vehicles. The MPU-6000 is a popular ultra low-cost Microelectromechanical Systems (MEMS) inertial measurement unit (IMU) used in several applications. Although this mass-market sensor is used extensively in a variety of fields, it has not caught the attention of the automotive industry. Moreover, a detailed performance analysis of this inertial sensor for ground navigation systems is not available in the previous literature. In this work, a deep examination of one MPU-6000 IMU as part of a low-cost navigation system for ground vehicles is provided. The steps to characterize the performance of the MPU-6000 are divided in two phases: static and kinematic analyses. Besides, an additional MEMS IMU of superior quality is also included in all experiments just for the purpose of comparison. After the static analysis, a kinematic test is conducted by generating a real urban trajectory registering an MPU-6000 IMU, the higher-grade MEMS IMU, and two GNSS receivers. The kinematic trajectory is divided in two parts, a normal trajectory with good satellites visibility and a second part where the Global Navigation Satellite System (GNSS) signal is forced to be lost. Evaluating the attitude and position inaccuracies from these two scenarios, it is concluded in this preliminary work that this mass-market IMU can be considered as a convenient inertial sensor for low-cost integrated navigation systems for applications that can tolerate a 3D position error of about 2 m and a heading angle error of about 3 °.
Highlights
Introduction and MotivationIn recent years, ground navigation systems have become very popular in the automotive industry.The massive use of advanced driver assistance systems (ADAS) in modern vehicles, and the effort of developing driverless vehicles are pushing ground navigation systems to be essential in future cars in years to come
An MPU-6000 inertial measurement unit (IMU) is evaluated on both static and kinematic scenarios in order to be used as part of a low-cost ground navigation system
A higher performance Microelectromechanical Systems (MEMS) IMU, an Ekinox-D, is included in the experiments just to compare how these two IMUs perform in terms of position and attitude
Summary
Ground navigation systems have become very popular in the automotive industry. Bebop [7] as well This mass-market IMU is extensively used in robotics, to the best knowledge of the authors, a detailed performance analysis of this inertial sensor as part of a ground vehicle navigation system is not available in the previous literature. It is not clear if this particular IMU could effectively be used in ground vehicle navigation systems.
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