Abstract
Inertial measurement units (IMU) are, typically, a cluster of accelerometers, gyroscopes and magnetometers. Its use was introduced with military applications, being, nowadays, widely common on industrial applications, namely robot navigation. Since there are a lot of units in different cost ranges, it is proposed, in this paper, a procedure to compare their performance in tracking tasks. Once IMU samples are unavoidably corrupted by systematic and stochastic errors, a calibration procedure (without any external equipment) to identify sensors’ error models and a Kalman filter implementation to remove white noise are suggested. Then, the comparison is carried out over two trajectories, square and circular paths, respectively, being described by a robotic arm, which acts as reference. The results show that different manufacturing quality units can track, with success, orientation references but are incapable to perform position tracking activities.
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Acknowledgment
This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme, and by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project SAICTPAC/0034/2015- POCI-01-0145-FEDER-016418.
This research was also supported by the Portuguese Foundation for Science and Technology (FCT) project COBOTIS (PTDC/EMEEME/ 32595/2017)
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Mendonça, T., Guimarães, D., Moreira, A.P., Costa, P. (2019). A Comparison Procedure for IMUs Performance. In: Moura Oliveira, P., Novais, P., Reis, L. (eds) Progress in Artificial Intelligence. EPIA 2019. Lecture Notes in Computer Science(), vol 11805. Springer, Cham. https://doi.org/10.1007/978-3-030-30244-3_28
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DOI: https://doi.org/10.1007/978-3-030-30244-3_28
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