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Published in:
2017 | OriginalPaper | Chapter
IMU Performance Analysis for a Pedestrian Tracker
Authors : Jianwei Zheng, Minhui Qi, Kui Xiang, Muye Pang
Published in: Intelligent Robotics and Applications
Publisher: Springer International Publishing
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Abstract
The performance of inertial measurement unit (IMU) is very important for a pedestrian tracker. It is possible for an object to keep track of changes in its own position using an IMU. It is well known that the inertial element acts as the main hardware of IMU, but the accuracy of the inertial sensors degrades with time. The errors are mainly caused by the imperfect structure of the inertial element itself, the change of the internal physical factors and the change of the operating environment, etc. The performances of three IMUs which includes MPU9250, LSM9DS0 and BMX055 are analyzed in this paper. The parameters of the three sensors are compared. The typical error items for inertial elements and the principle and algorithm of the Allan Variance are introduced. Allan Variance technique is used to analyze errors of the inertial sensors. Finally, the design of IMU and the three IMU experimental results are introduced. Final results show that the performance of MPU9250 is the best and BMX055 is the worst.