Next Article in Journal
Fast Fingerprint Database Maintenance for Indoor Positioning Based on UGV SLAM
Next Article in Special Issue
A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination
Previous Article in Journal
A Highly Sensitive ELISA and Immunochromatographic Strip for the Detection of Salmonella typhimurium in Milk Samples
Previous Article in Special Issue
A Stationary North-Finding Scheme for an Azimuth Rotational IMU Utilizing a Linear State Equality Constraint
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(3), 5293-5310; doi:10.3390/s150305293

Magnetometer-Augmented IMU Simulator: In-Depth Elaboration

1
French-German Research Institute of Saint-Louis (ISL, Guidance, Navigation and Control (GNC) Department), 5 rue du Général Cassagnou, Saint-Louis 68300, France
2
Laboratoire MIPS - EA2332, Université de Haute-Alsace, 12 rue des Frères Lumière, Mulhouse Cedex 68093, France
*
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 8 December 2014 / Revised: 16 February 2015 / Accepted: 25 February 2015 / Published: 4 March 2015
(This article belongs to the Special Issue Inertial Sensors and Systems)
View Full-Text   |   Download PDF [1932 KB, uploaded 4 March 2015]   |  

Abstract

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. View Full-Text
Keywords: simulator; magnetometer; absolute magnetic reference; IMU; modeling simulator; magnetometer; absolute magnetic reference; IMU; modeling
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Brunner, T.; Lauffenburger, J.-P.; Changey, S.; Basset, M. Magnetometer-Augmented IMU Simulator: In-Depth Elaboration. Sensors 2015, 15, 5293-5310.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top