2012 JoI&RS Sessa - A methodology for the performance evaluation of Inertial Measurement Units.pdf (2.26 MB)
A methodology for the performance evaluation of inertial measurement units
journal contribution
posted on 2015-11-10, 16:52 authored by Salvatore Sessa, Massimiliano ZeccaMassimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii, Atsuo TakanishiThis paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3™ by InterSense.
Funding
This research has been partially supported by a Grant by STMicroelectronics, which also provided the core sensors and the microcontroller. This work was also supported in part by: the Global COE Program “Global Robot Academia”, MEXT, Japan; the Advancement of University Education Project of Chinese government Grant # [2007] – 3020; the JSPS Grant-in-aid for Scientific Research #19700389; the Waseda University Grant for Special Research Projects (No. 266740); the JSPS Postdoctoral Fellowship Program for Foreigner Researcher FY2008; and the Consolidated Research Institute for Advanced Science and Medical Care, Waseda University (ASMeW).
History
School
- Mechanical, Electrical and Manufacturing Engineering
Published in
Journal of Intelligent & Robotic SystemsVolume
71Issue
2Pages
143 - 157Citation
SESSA, S. ... et al, 2013. A methodology for the performance evaluation of inertial measurement units. Journal of Intelligent & Robotic Systems, 71 (2), pp. 143 - 157.Publisher
© SpringerVersion
- AM (Accepted Manuscript)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2013Notes
This article was accepted for publication in the serial, Journal of Intelligent and Robotic Systems [© Springer]. The final publication is available at Springer via http://dx.doi.org/10.1007/s10846-012-9772-8ISSN
0921-0296eISSN
1573-0409Publisher version
Language
- en