Comparison and Evaluation Between a Low-cost IMU and INS VN-300 in AHRS mode

Jorch Mendoza-Choquemamani, Brayan Espinoza-Garcia, Juan Carlos Cutipa-Luque, Pablo R. Yanyachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a comparison between the VN-300 and LMS6DSOX + LIS3MDL inertial sensors. The former is a sophisticated inertial navigation system (INS) with applications in avionics and shipping, and the latter are low-cost micro-electro-mechanical systems (MEMS) sensors of 15 dollars. The comparison is performed through the Allan-variance technique to determine: the stochastic noise profile and the advantages and disadvantages of both sensors. In addition, the authors implement for the low-cost sensor an open-source attitude and heading reference system (AHRS) assisted by a Kalman filter for attitude determination. Finally, the paper compares the Euler angles between both navigation systems to determine whether the proposed low-cost device is a reliable Inertial Measurement Unit (IMU).

Original languageEnglish
Title of host publication2021 IEEE International Conference on Aerospace and Signal Processing, INCAS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665405737
DOIs
StatePublished - 2021
Event2021 IEEE International Conference on Aerospace and Signal Processing, INCAS 2021 - Lima, Peru
Duration: 28 Nov 202130 Nov 2021

Publication series

Name2021 IEEE International Conference on Aerospace and Signal Processing, INCAS 2021

Conference

Conference2021 IEEE International Conference on Aerospace and Signal Processing, INCAS 2021
Country/TerritoryPeru
CityLima
Period28/11/2130/11/21

Bibliographical note

Funding Information:
The authors would like to thank the Pedro Paulet Institute for Astronomical and Aerospace Research (IAAPP) and Universidad Nacional de San Agust in de Arequipa for all the support provided in the development of this research.

Publisher Copyright:
© 2021 IEEE.

Keywords

  • AHRS
  • Allan-variance
  • Inertial Measurement Unit
  • Low-cost MEMS sensors

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