Dynamic accuracy of inertial magnetic sensor modules
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Authors
Pelachick, Heather L.
Subjects
magnetic
angular rate
and gravity
MARG
micro-electro-mechanical systems
MEMS
quaternion
angular rate
and gravity
MARG
micro-electro-mechanical systems
MEMS
quaternion
Advisors
Yun, Xiaoping
Staples, Zachary
Date of Issue
2016-12
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Magnetic, angular rate, and gravity (MARG) sensor modules have extensive applications in inertial navigation and motion tracking. A wide assortment of these sensor modules exist at varying cost points. In the current fiscal environment, affordable devices are needed; however, performance cannot be sacrificed. The main purpose of the study is to devise a series of tests to evaluate the dynamic accuracy of the LORD MicroStrain® 3DM-GX4-25 Attitude Heading Reference System (AHRS). Previous NPS theses have been constrained to static tests and dynamic, rotational tests in a single axis of motion. Utilizing the OptiTrack Motion Capture System, we examine the dynamic accuracy of the 3DM-GX4-25 for rotations in a single axis of motion and arbitrary motions in three-dimensional space, compare the dynamic accuracy against other MARG sensor modules used in previous NPS theses, and provide a cost analysis of the 3DM-GX4-25. Although the dynamic accuracy of the 3DM-GX4-25 met performance specifications for most cases, another MARG sensor module existed with better performance and lower cost.
Type
Thesis
Description
Series/Report No
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NPS Report Number
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.