Performance Comparison of Sensor Implemented in Smartphones with X-IMU

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• 关键词：Data fusion ; Complementary filter ; Orientation ; Inertial measurement unit
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9876
• 期：1
• 页码：190-199
• 全文大小：487 KB
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• 作者单位：Juraj Machaj (17)
  Jan Racko (17)
  Peter Brida (17)
  
  17. Department of Telecommunications and Multimedia, University of Zilina, Univerzitna 1, 010 26, Zilina, Slovakia
  
• 丛书名：Computational Collective Intelligence
• ISBN：978-3-319-45246-3
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9876

文摘

In this paper a comparison of inertial sensors in smartphones and X-IMU (Inertial Measurement Unit) is presented. The goal of the experiment is to compare the performance of inertial sensors implemented in smartphones with special IMU. The orientation of the devices will be compared. Measuring data from accelerometer and gyroscope provide orientation estimation in three dimensional space and for this purpose orientation in all three axes is needed. Accelerometer measures acceleration and gyroscope measures angular velocity. Orientation can be calculated by using one sensor, but both are affected by negative parameters which make estimation imprecise. Accelerometers measure all forces acting on it including gravitation. This fact can be used to estimate orientation, however, output data of accelerometer are quite noisy. Another possibility how to obtain orientation estimate is integration of gyroscopes data, but this estimation is insufficient due to bias. Combination of output data from both sensors, more precise orientation estimation can be obtained. Combination of sensors is called sensor fusion and is done by using Complementary filter based on Euler angles.