Next Article in Journal
Improving the Accuracy of Laplacian Estimation with Novel Variable Inter-Ring Distances Concentric Ring Electrodes
Next Article in Special Issue
Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units
Previous Article in Journal
A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety
Previous Article in Special Issue
Backward Secondary-Wave Coherence Errors in Photonic Bandgap Fiber Optic Gyroscopes
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(6), 854; doi:10.3390/s16060854

An IMU Evaluation Method Using a Signal Grafting Scheme

GNSS Research Center, Wuhan University, No.129, Luoyu Road, Wuhan 430079, China
Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N1N4, Canada
Collaborative Innovation Center for Geospatial Information Technology, Wuhan University, No.129, Luoyu Road, Wuhan 430079, China
Author to whom correspondence should be addressed.
Academic Editor: Jörg Wagner
Received: 16 March 2016 / Revised: 2 June 2016 / Accepted: 3 June 2016 / Published: 10 June 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [5706 KB, uploaded 10 June 2016]   |  


As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade IMU is needed, and can be used to evaluate numerous IMUs. Thus, SG is effective and economic because all data from the tested IMU is collected in the lab; (b) it is a general approach to compare navigation performances of various IMUs by using the same reference data; and, finally, (c) through SG, one can first evaluate an IMU in the lab, and then decide whether to further test it. Moreover, this paper verified the validity of SG to both medium- and low-grade IMUs, and presents and compared two SG strategies, i.e., the basic-error strategy and the full-error strategy. SG provided results similar to field tests, with a difference of under 5% and 19.4%–26.7% for tested tactical-grade and MEMS IMUs. Meanwhile, it was found that dynamic IMU errors were essential to guarantee the effect of the SG method. View Full-Text
Keywords: signal grafting; performance evaluation; Inertial Measurement Units; hybrid simulation; navigation; field testing signal grafting; performance evaluation; Inertial Measurement Units; hybrid simulation; navigation; field testing

Figure 1

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

Niu, X.; Wang, Q.; Li, Y.; Zhang, Q.; Jiang, P. An IMU Evaluation Method Using a Signal Grafting Scheme. Sensors 2016, 16, 854.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



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