A Methodology for the Performance Evaluation of Inertial Measurement Units

作者：Sessa Salvatore^*; Zecca Massimiliano; Lin Zhuohua; Bartolomeo Luca; Ishii Hiroyuki; Takanishi Atsuo

来源：Journal of Intelligent & Robotic Systems, 2013, 71(2): 143-157.

DOI：10.1007/s10846-012-9772-8

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

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 (TM) by InterSense.

• 出版日期2013-8