A methodology for the performance evaluation of inertial measurement units

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

*この研究の対応する著者

研究成果: Article査読

36 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)143-157
ページ数15
ジャーナルJournal of Intelligent and Robotic Systems: Theory and Applications
71
2
DOI
出版ステータスPublished - 2013 8

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 機械工学
  • 産業および生産工学
  • 人工知能
  • 電子工学および電気工学

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