Multiple MEMS-IMU Localization: Architecture Compari-son and Performance Assessment
Résumé
The dynamic location of objects is a predominant research topic in many fields. The idea in this project is to develop an estimation algorithm which compares the absolute magnetic measurements in the body frame with the absolute knowledge of the Earth magnetic field. In addition, multiple IMUs are used. This allows the improvement of the precision in the navigation algorithms with low-cost IMUs by comparing their data. In that case, the IMUs are placed at different location with respect to the object. This positioning creates variations in the data provided by the accelerometers and magnetometers. Using a simple triad structure, a multi-IMU principle is described, allowing adding information into the desired estimation algorithm: the angular speeds and accelerations can be estimated by the use of accelerometer measures; using magnetometer, the linear speed can be corrected.