Comparison and Evaluation Between a Low-cost IMU and INS VN-300 in AHRS mode

Mendoza-Choquemamani J.; Espinoza-Garcia B.; Cutipa-Luque J.C.; Yanyachi P.R. · 2021 IEEE International Conference on Aerospace and Signal Processing, INCAS 2021 (2021) · DOI: 10.1109/incas53599.2021.9666920

Resumen

This paper presents a comparison between the VN-300 and LMS6DSOX + LIS3MDL inertial sensors. The former is a sophisticated inertial navigation system (INS) with applications in avionics and shipping, and the latter are low-cost micro-electro-mechanical systems (MEMS) sensors of 15 dollars. The comparison is performed through the Allan-variance technique to determine: the stochastic noise profile and the advantages and disadvantages of both sensors. In addition, the authors implement for the low-cost sensor an open-source attitude and heading reference system (AHRS) assisted by a Kalman filter for attitude determination. Finally, the paper compares the Euler angles between both navigation systems to determine whether the proposed low-cost device is a reliable Inertial Measurement Unit (IMU).

Instituciones: Universidad Nacional de San Agustín de Arequipa