Abstract
We have been focused on the exploitation of the limits of the performance of low cost sensors, used in an integrated way, both for classical and geodetic navigation. In this work, the navigation performance of the Android smartphone's IMU was assessed thoroughly. The raw IMU data from two smartphones, “Xiaomi 8” and “Honor Play” were recorded, using different sampling rates, and compared with the measurements, recorded simultaneously from higher grade IMU's. For assessing the navigation capabilities of the smartphones IMU sensors, two kinematic tests were designed. In these tests, the smartphones IMU data were processed using a 15-state Kalman Filter developed by our group, while the reference IMU data were processed using a commercial software. The details of the comparisons between the positioning, velocity and attitude solutions are discussed. The results show that the navigation solutions of both smartphones are quite close to that of the reference IMUs', showing differences of around 0.2 m in positioning, 0.3 m/s in velocity, and 1° in roll and pitch. The quality of the yaw estimation, with an accuracy of a few degrees, is clearly worse than that of the other attitude parameters. However, the results of the second test reveal that using a higher data rate setting for the IMU samplings, it is possible to improve the solution. The assessment study of the smartphone's IMUs performed in this work can be useful for the development of many different applications, including the exploitation for Autonomous Vehicles, Intelligent Transport Systems, and Smart Cities.
Highlights
With the quick development of micro-electronics and computing technologies, the newest smartphones are becoming very sophisticated, integrating many functional chips, such as the last generation of MEMS (Micro-Electro-Mechanical System) type of GNSS, IMUs (Inertial Measurement Unit), cameras, compasses, and magnetometers
The associate editor coordinating the review of this manuscript and approving it for publication was Pietro Savazzi
Since 2016, Android 7.x platform started to support raw GNSS measurements and sub-meter level positioning based on mass-market smartphone device becomes
Summary
With the quick development of micro-electronics and computing technologies, the newest smartphones are becoming very sophisticated, integrating many functional chips, such as the last generation of MEMS (Micro-Electro-Mechanical System) type of GNSS, IMUs (Inertial Measurement Unit), cameras, compasses, and magnetometers. We assess the navigation performance when using the IMU chips of the Android smartphones in a GNSS/INS coupled navigation mode, and analyze its capacity to get stable and precise position, velocity, and attitude angle information that can match ITS demands. This objective followed the results obtained in a previous comparison of the trend of the Android smartphones’ raw IMU measurements with those from a commercial IMU, in which we noticed that they were quite close to each other. Distribution Function) were implemented to assess the performance of the results of position, velocity, and attitude
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