Title :
A comparative evaluation of low-cost IMUs for unmanned autonomous systems
Author :
Chao, Haiyang ; Coopmans, Calvin ; Di, Long ; Chen, YangQuan
Author_Institution :
Electr. & Comput. Eng. Dept., Utah State Univ., Logan, UT, USA
Abstract :
Inertial measurement units (IMUs) are widely used for navigation and calibration purposes on unmanned autonomous vehicles. This paper provides a comparative survey and evaluation of the low-cost IMUs focusing on both the possible sensor packages and the available software solutions. Several example IMUs are compared in detail including inertial only IMUs, GPS-coupled IMUs, and hobbyist-level IMUs. The future direction of low-cost IMUs are discussed including optical-flow-based solutions and collaborative IMUs.
Keywords :
image sequences; mobile robots; path planning; remotely operated vehicles; GPS coupled IMU; hobbyist level IMU; inertial measurement unit; low cost IMU; optical flow based solution; sensor package; unmanned autonomous system; unmanned autonomous vehicles navigation; Accelerometers; Equations; Estimation; Global Positioning System; Kalman filters; Vehicles;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2010 IEEE Conference on
Conference_Location :
Salt Lake City, UT
Print_ISBN :
978-1-4244-5424-2
DOI :
10.1109/MFI.2010.5604460
