Testing of the Possibilities of Using IMUs with Different Types of Movements

Pavol Kajánek

doi:10.14311/gi.12.10

Abstract

Inertial navigation system (INS) is a self-contained navigation technique. Its main purpose is to determinate the position and the trajectory of the object´s movement in space. This technique is well represented not only as a supplementary method (GPS/INS integrated system) but as an autonomous system for navigation of vehicles and pedestrians, also. The aim of this paper is to design a test for low-cost inertial measurement units. The test results give us information about accuracy, which determine the possible use in indoor navigation or other applications. There are described some methods for processing the data obtained by inertial measurement units, which remove noise and improve accuracy of position and orientation.

Highlights

Inertial measurement unit (IMU) is a complete three dimensional dead reckoning navigation system
The test results give us information about accuracy, which determine the possible use in indoor navigation or other applications
It includes a set of inertial sensors such as accelerometers, gyroscopes and magnetometers

Summary

Introduction

Inertial measurement unit (IMU) is a complete three dimensional dead reckoning navigation system. It includes a set of inertial sensors such as accelerometers, gyroscopes and magnetometers (for absolute orientation). A gyroscope is an inertial sensor for measuring angular rate. Spinning mass gyroscope works on principle of conversation of angular momentum. Optical gyroscopes work on principle of Sagnac effect. Magnetometer sensors works on the principle of Hall’s effect ([3]). These sensors transform magnetic field to output voltage difference. Accelerometer and gyroscope for the low-cost IMU are manufactured as micro-electromechanical sensors MEMS. The advantages of MEMS sensors are small size, low weight, rugged construction, low power consumption, short start-up time, high reliability, low maintenance and compatibility with operation in hostile environments ([2])

Objectives

Methods

Conclusion