Analysis of MEMS IMU Motion Testing

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Authors
  1. Arden, D.
Corporate Authors
Defence R&D Canada - Ottawa, Ottawa ONT (CAN);Dale Arden Consulting, Kanata ONT (CAN)
Abstract
The Navigation Group of the Communications Electronic Warfare Section of Defence R&D Canada – Ottawa (DRDC Ottawa) is funding research to study and develop an integrated navigation system based on Inertial Measurement Units (IMUs) based on Micro-Electro-Mechanical Systems (MEMS) gyros and accelerometers and the Global Positioning System (GPS). Three MEMS IMUs were purchased under the terms of this contract. To better understand the error characteristics of MEMS inertial sensors and to gain familiarity with these instruments, a series of tests were carried out. The Inertial Test Lab owned and managed by DRDC Ottawa is equipped with two two-axis Contraves motion tables. One of these tables was used for these tests. This report describes the results of analyses performed on data collected on a DRDC Ottawa motion table. Emphasis was placed on statistical characterization of individual gyro and accelerometer error behaviour with the aims of 1. Comparing real-life results with manufacturers’ specifications, 2. Developing IMU error models that may be suitable for use in the MEMS/GPS Kalman filter integration processing, 3. Comparing the performance of the three IMUs under test.
Report Number
DRDC-OTTAWA-CR-2007-092 — Contractor Report
Date of publication
01 May 2007
Number of Pages
88
DSTKIM No
CA029337
CANDIS No
527627
Format(s):
CD ROM

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