Sensors, Vol. 19, Pages 3865: Performance Assessment of an Ultra Low-Cost Inertial Measurement Unit for Ground Vehicle Navigation

Sensors, Vol. 19, Pages 3865: Performance Assessment of an Ultra Low-Cost Inertial Measurement Unit for Ground Vehicle Navigation Sensors doi: 10.3390/s19183865 Authors: Rodrigo Gonzalez Paolo Dabove Nowadays, navigation systems are becoming common in the automotive industry due to advanced driver assistance systems and the development of autonomous vehicles. The MPU-6000 is a popular ultra low-cost Microelectromechanical Systems (MEMS) inertial measurement unit (IMU) used in several applications. Although this mass-market sensor is used extensively in a variety of fields, it has not caught the attention of the automotive industry. Moreover, a detailed performance analysis of this inertial sensor for ground navigation systems is not available in the previous literature. In this work, a deep examination of one MPU-6000 IMU as part of a low-cost navigation system for ground vehicles is provided. The steps to characterize the performance of the MPU-6000 are divided in two phases: static and kinematic analyses. Besides, an additional MEMS IMU of superior quality is also included in all experiments just for the purpose of comparison. After the static analysis, a kinematic test is conducted by generating a real urban trajectory registering an MPU-6000 IMU, the higher-grade MEMS IMU, and two GNSS receivers. The kinematic trajectory is divided in two parts, a normal trajectory with good satellites visibility and a second part where the Global Navigation Satellite System (GN...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research
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