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Comparison of Acceleration-Compensating Mechanisms for Improvement of IMU-Based Orientation Determination

IMU기반 자세결정의 정확도 향상을 위한 가속도 보상 메카니즘 비교

  • Lee, Jung Keun (Dept. of Mechanical Engineering, Hankyong Nat'l Univ.)
  • 이정근 (한경대학교 기계공학과)
  • Received : 2016.02.01
  • Accepted : 2016.07.19
  • Published : 2016.09.01

Abstract

One of the main factors related to the deterioration of estimation accuracy in inertial measurement unit (IMU)-based orientation determination is the object's acceleration. This is because accelerometer signals under accelerated motion conditions cannot be longer reference vectors along the vertical axis. In order to deal with this issue, some orientation estimation algorithms adopt acceleration-compensating mechanisms. Such mechanisms include the simple switching techniques, mechanisms with adaptive estimation of acceleration, and acceleration model-based mechanisms. This paper compares these three mechanisms in terms of estimation accuracy. From experimental results under accelerated dynamic conditions, the following can be concluded. (1) A compensating mechanism is essential for an estimation algorithm to maintain accuracy under accelerated conditions. (2) Although the simple switching mechanism is effective to some extent, the other two mechanisms showed much higher accuracies, particularly when test conditions were severe.

Keywords

IMU;Orientation;Acceleration-compensating Mechanism;Kalman Filter;Accelerometer

Acknowledgement

Supported by : 한국연구재단

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