Dynamic accuracy of inertial magnetic sensor modules

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.