Magnetometer-Augmented IMU Simulator: In-Depth Elaboration
The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniaturized inertial sensors. In this context, this art...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-03-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/15/3/5293 |
| _version_ | 1798006936871895040 |
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| author | Thomas Brunner Jean-Philippe Lauffenburger Sébastien Changey Michel Basset |
| author_facet | Thomas Brunner Jean-Philippe Lauffenburger Sébastien Changey Michel Basset |
| author_sort | Thomas Brunner |
| collection | DOAJ |
| description | The location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniaturized inertial sensors. In this context, this article describes the development of a new simulator which generates sensor measurements, giving a specific input trajectory. This will allow the comparison of pose estimation algorithms. To develop this simulator, the measurement equations of every type of sensor have to be analytically determined. To achieve this objective, classical kinematic equations are used for the more common sensors, i.e., accelerometers and rate gyroscopes. As nowadays, the MEMS inertial measurement units (IMUs) are generally magnetometer-augmented, an absolute world magnetic model is implemented. After the determination of the perfect measurement (through the error-free sensor models), realistic error models are developed to simulate real IMU behavior. Finally, the developed simulator is subjected to different validation tests. |
| first_indexed | 2024-04-11T13:03:25Z |
| format | Article |
| id | doaj.art-0ba677127d1e4083a71f5b05643374cb |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T13:03:25Z |
| publishDate | 2015-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-0ba677127d1e4083a71f5b05643374cb2022-12-22T04:22:52ZengMDPI AGSensors1424-82202015-03-011535293531010.3390/s150305293s150305293Magnetometer-Augmented IMU Simulator: In-Depth ElaborationThomas Brunner0Jean-Philippe Lauffenburger1Sébastien Changey2Michel Basset3French-German Research Institute of Saint-Louis (ISL, Guidance, Navigation and Control (GNC) Department), 5 rue du Général Cassagnou, Saint-Louis 68300, FranceLaboratoire MIPS - EA2332, Université de Haute-Alsace, 12 rue des Frères Lumière, Mulhouse Cedex 68093, FranceFrench-German Research Institute of Saint-Louis (ISL, Guidance, Navigation and Control (GNC) Department), 5 rue du Général Cassagnou, Saint-Louis 68300, FranceLaboratoire MIPS - EA2332, Université de Haute-Alsace, 12 rue des Frères Lumière, Mulhouse Cedex 68093, FranceThe location of objects is a growing research topic due, for instance, to the expansion of civil drones or intelligent vehicles. This expansion was made possible through the development of microelectromechanical systems (MEMS), inexpensive and miniaturized inertial sensors. In this context, this article describes the development of a new simulator which generates sensor measurements, giving a specific input trajectory. This will allow the comparison of pose estimation algorithms. To develop this simulator, the measurement equations of every type of sensor have to be analytically determined. To achieve this objective, classical kinematic equations are used for the more common sensors, i.e., accelerometers and rate gyroscopes. As nowadays, the MEMS inertial measurement units (IMUs) are generally magnetometer-augmented, an absolute world magnetic model is implemented. After the determination of the perfect measurement (through the error-free sensor models), realistic error models are developed to simulate real IMU behavior. Finally, the developed simulator is subjected to different validation tests.http://www.mdpi.com/1424-8220/15/3/5293simulatormagnetometerabsolute magnetic referenceIMUmodeling |
| spellingShingle | Thomas Brunner Jean-Philippe Lauffenburger Sébastien Changey Michel Basset Magnetometer-Augmented IMU Simulator: In-Depth Elaboration Sensors simulator magnetometer absolute magnetic reference IMU modeling |
| title | Magnetometer-Augmented IMU Simulator: In-Depth Elaboration |
| title_full | Magnetometer-Augmented IMU Simulator: In-Depth Elaboration |
| title_fullStr | Magnetometer-Augmented IMU Simulator: In-Depth Elaboration |
| title_full_unstemmed | Magnetometer-Augmented IMU Simulator: In-Depth Elaboration |
| title_short | Magnetometer-Augmented IMU Simulator: In-Depth Elaboration |
| title_sort | magnetometer augmented imu simulator in depth elaboration |
| topic | simulator magnetometer absolute magnetic reference IMU modeling |
| url | http://www.mdpi.com/1424-8220/15/3/5293 |
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