A methodology for the performance evaluation of inertial measurement units

Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii, Atsuo Takanishi

    Research output: Contribution to journalArticle

    28 Citations (Scopus)

    Abstract

    This 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.

    Original languageEnglish
    Pages (from-to)143-157
    Number of pages15
    JournalJournal of Intelligent and Robotic Systems: Theory and Applications
    Volume71
    Issue number2
    DOIs
    Publication statusPublished - 2013 Aug

    Fingerprint

    Units of measurement
    Synchronization
    Genetic algorithms

    Keywords

    • Inertial Measurement Units
    • Motion capture systems
    • Motion sensors calibration
    • Performance evaluation

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Software
    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Mechanical Engineering

    Cite this

    A methodology for the performance evaluation of inertial measurement units. / Sessa, Salvatore; Zecca, Massimiliano; Lin, Zhuohua; Bartolomeo, Luca; Ishii, Hiroyuki; Takanishi, Atsuo.

    In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 71, No. 2, 08.2013, p. 143-157.

    Research output: Contribution to journalArticle

    Sessa, Salvatore ; Zecca, Massimiliano ; Lin, Zhuohua ; Bartolomeo, Luca ; Ishii, Hiroyuki ; Takanishi, Atsuo. / A methodology for the performance evaluation of inertial measurement units. In: Journal of Intelligent and Robotic Systems: Theory and Applications. 2013 ; Vol. 71, No. 2. pp. 143-157.
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