An Effective Method for Data Processing of Inertial Measurement Units Applied to Embedded Systems

Christoph Kolhoff, Markus Kemper

2021

Abstract

Autonomous functions for navigation and localization have piqued the attention and interest in many fields of science and engineering as automotive, aviation and robotics. Desiring high quantity of autonomous products, the used components are requested to be cheap. This often lead engineers or developers to apply micro-electromechanical systems that exhibit large errors. To use these sensors anyway, the acquired data must be processed online for error reduction. Hence there is a need for an algorithm that is easy to compute. The aim of this research is to develop a generic algorithm based on a Gauss-Markov process representing the drifting bias that can be parametrized easily and performs well on real-time systems. Therefore, the error model imitates the sensor’s output and removing the errors afterwards. Finally, a validation of the suggested algorithm is performed by comparing processed data of the micro-controller to data processed a posteriori on a high-performance computer.

Paper Citation

in Harvard Style

Kolhoff C. and Kemper M. (2021). An Effective Method for Data Processing of Inertial Measurement Units Applied to Embedded Systems. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 558-565. DOI: 10.5220/0010540705580565

in Bibtex Style

@conference{icinco21,
author={Christoph Kolhoff and Markus Kemper},
title={An Effective Method for Data Processing of Inertial Measurement Units Applied to Embedded Systems},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={558-565},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010540705580565},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - An Effective Method for Data Processing of Inertial Measurement Units Applied to Embedded Systems
SN - 978-989-758-522-7
AU - Kolhoff C.
AU - Kemper M.
PY - 2021
SP - 558
EP - 565
DO - 10.5220/0010540705580565