Department of Earth and Environmental Sciences, Ludwig-Maximilians Universität München, 80539 Munich, Germany.
Sensors (Basel). 2021 May 27;21(11):3732. doi: 10.3390/s21113732.
Six-degree-of-freedom (6DoF) sensors measure translation along three axes and rotation around three axes. These collocated measurements make it possible to fully describe building motion without the need for an external reference point. This is an advantage for building health monitoring, which uses interstory drift and building eigenfrequencies to monitor stability. In this paper, IMU50 6DoF sensors are characterized to determine their suitability for building health monitoring. The sensors are calibrated using step table methods and by comparison with earth's rotation and gravity. These methods are found to be comparable. The sensor's self-noise is examined through the power spectral density and the Allan deviation of data recorded in a quiet environment. The effect of temperature variation is tested between 14 and 50 °C. It appears that the self-noise of the rotation components increases while the self-noise of the acceleration components decreases with temperature. The comparison of the sensor self-noise with ambient building signal and higher amplitude shaking shows that these sensors are in general not sensitive enough for ambient signal building health monitoring in the frequency domain, but could be useful for monitoring interstory drift and building motion during, for example, strong earthquake shaking in buildings similar to those examined here.
六自由度（6DoF）传感器测量三个轴线上的平移和三个轴线上的旋转。这些共定位的测量使得无需外部参考点就可以完全描述建筑物运动。这对于建筑物健康监测是一个优势，它使用层间位移和建筑物本征频率来监测稳定性。在本文中，IMU50 6DoF 传感器进行了特征描述，以确定其在建筑物健康监测中的适用性。使用阶跃台方法和与地球自转和重力的比较对传感器进行了校准。发现这些方法是可比的。通过在安静环境中记录的数据的功率谱密度和 Allan 偏差来检查传感器的自噪声。在 14 到 50°C 之间测试了温度变化的影响。似乎随着温度的升高，旋转分量的自噪声增加，而加速度分量的自噪声减小。将传感器自噪声与环境建筑物信号和更高幅度的振动进行比较表明，这些传感器通常对于环境信号建筑物健康监测在频域中不够敏感，但对于监测建筑物在类似于本文中所研究的建筑物中发生强烈地震时的层间位移和建筑物运动可能有用。
