Hislop Jaime, Isaksson Mats, McCormick John, Hensman Chris
Department of Mechanical Engineering and Product Design Engineering, Swinburne University of Technology, Hawthorn, VIC 3122, Australia.
Centre for Transformative Media Technologies, Swinburne University of Technology, Hawthorn, VIC 3122, Australia.
Sensors (Basel). 2021 Oct 15;21(20):6858. doi: 10.3390/s21206858.
Inertial Measurement Units (IMUs) are beneficial for motion tracking as, in contrast to most optical motion capture systems, IMU systems do not require a dedicated lab. However, IMUs are affected by electromagnetic noise and may exhibit drift over time; it is therefore common practice to compare their performance to another system of high accuracy before use. The 3-Space IMUs have only been validated in two previous studies with limited testing protocols. This study utilized an IRB 2600 industrial robot to evaluate the performance of the IMUs for the three sensor fusion methods provided in the 3-Space software. Testing consisted of programmed motion sequences including 360° rotations and linear translations of 800 mm in opposite directions for each axis at three different velocities, as well as static trials. The magnetometer was disabled to assess the accuracy of the IMUs in an environment containing electromagnetic noise. The Root-Mean-Square Error (RMSE) of the sensor orientation ranged between 0.2° and 12.5° across trials; average drift was 0.4°. The performance of the three filters was determined to be comparable. This study demonstrates that the 3-Space sensors may be utilized in an environment containing metal or electromagnetic noise with a RMSE below 10° in most cases.
惯性测量单元（IMU）有利于运动跟踪，因为与大多数光学运动捕捉系统不同，IMU系统不需要专门的实验室。然而，IMU会受到电磁噪声的影响，并且可能随时间出现漂移；因此，在使用前将其性能与另一个高精度系统进行比较是常见的做法。3-Space IMU仅在之前的两项研究中得到验证，且测试方案有限。本研究利用一台IRB 2600工业机器人，针对3-Space软件中提供的三种传感器融合方法评估IMU的性能。测试包括编程运动序列，其中每个轴在三种不同速度下进行360°旋转和沿相反方向800毫米的线性平移，以及静态试验。在包含电磁噪声的环境中，禁用磁力计以评估IMU的准确性。在所有试验中，传感器方向的均方根误差（RMSE）在0.2°至12.5°之间；平均漂移为0.4°。确定三种滤波器的性能具有可比性。本研究表明，在大多数情况下，3-Space传感器可用于包含金属或电磁噪声的环境，其RMSE低于10°。
