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Sensors 2015, 15(3), 5293-5310;

Magnetometer-Augmented IMU Simulator: In-Depth Elaboration

French-German Research Institute of Saint-Louis (ISL, Guidance, Navigation and Control (GNC) Department), 5 rue du Général Cassagnou, Saint-Louis 68300, France
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)
Full-Text   |   PDF [1932 KB, uploaded 4 March 2015]


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).

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

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