FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 1

Reference Data Set for Performance Evaluation of MEMS-based Integrated

Navigation Solutions

FIG Working Week, Marrakech, Morocco ♦♦♦♦ 18-22 May, 2011

Charles K. Toth, Dorota Brzezinska, Nonie Politi, Allison Kealy The Ohio State University

University of New South Whales University of Melbourne

Phone: 614-292-7681E-mail: toth@cfm.ohio-state.edu

Motivation

� IMUs are core navigation sensors in indoors/outdoors

and other GPS-challenged environments

� MEMS IMU technology is steadily advancing

� Algorithmic research is strong in alternative navigation

filter design and implementation (EnKF, UKF, PF,

machine-learning based varieties, etc.)

� The need for comparative performance evaluation is

increasing

� Ground truth (reference) availability

� Use of identical measurement(s)

� IAG/FIG collaborative working group was formed in 2009

� Major field tests were carried out at OSU in 2010, using

IMUs from OSU, UoM and UNSW

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 2

Objectives of 2010 OSU field tests

� Acquire reference data for MEMS performance

validation using high-end IMU’s

� Acquire reference data for algorithmic research

(typical trajectories)

� Validate time synchronization performance of

different implementations (embedded GPS, timer-

board based and software-only PC data acquisition

systems)

� Acquire data in various sensor configurations in

highly dynamic environment

� Acquire data in a group of sensor nodes equipped

with GPS/IMU of various grades

IMU sensors used in the experiments

IMU Owner Interface Timing

Lever arm with respect to rear GPS

antenna

Right [cm] Front [cm] Up [cm]

H764G-1 OSU 1553B Built-in GPS 26.6 -76.1 123.6

H764G-2 OSU 1553B Built-in GPS 48.2 -76.1 123.6

LN100 OSU 1553B External(hw) 26.6 -71.7 102.8

HG1700 OSU H/SDLC External(hw) 48.5 -53.4 101.8

XBOW-0 OSU Serial External(hw) 53.5 -78.1 107.2

XBOW-1 UoM Serial External(sw) 43.8 -78.1 107.2

XBOW-2 UoM Serial External(sw) 30.4 -60.2 107.2

XSENS-1 UoM USB External(hw) 43.4 -71.4 109.8

XSENS-2 UNSW USB External(sw) 37.6 -71.4 109.8

Gladiator Landmark UoM Serial External(sw) 53.9 -64.6 109.7

MicroStrain, INERTIA LINK UoM USB External(sw) 47.6 -64.4 108.9

Crista IMU UoM Serial External(sw) 37.9 -59.5 109.9

Vehicle

axesLN100 H764G HG1700 XBOW XSENS Gladiator MStrain Crista

Right Y Y Y Y -Y Y Y Y

Front X X Z X X X X X

Up -Z -Z X -Z Z -Z -Z -Z

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 3

IMU sensors installation

GPS receivers: Novatel OEM4, Topcon Legacy, Trimble 5700 (base: Topcon Legacy, COLB CORS)

H764G2H764G1

LN100

XSense

CrossBow

8.1

20.3

Right

Up

20.3

IMU sensors installation

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 4

GPSVan in field tests at OSU

Two GPS antennae with two four-way splitters

Trajectory of test 8 (parking lot)

DGPS solution GPS/IMU solution

(high-end IMU)

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 5

Trajectory of test 8 in maneuvering area

No visible difference in DGPS and GPS/IMU solutions

Standard deviation of position

0 500 1000 15000

0.02

0.04

0.06

Ea

st

STD of position (m)

0 500 1000 15000

0.02

0.04

0.06

No

rth

0 500 1000 15000

0.1

0.2

Time (s)

Up

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 6

Standard deviation of velocity

0 500 1000 15000

0.05

0.1

East

STD of velocity (m/s)

0 500 1000 15000

0.05

0.1

No

rth

0 500 1000 15000

0.05

0.1

Time (s)

Up

Standard deviation of attitude

0 500 1000 15000

0.05

0.1

Pitch

STD of attitude (degree)

0 500 1000 15000

0.05

0.1

Ro

ll

0 500 1000 15000

2

4

6

Time (s)

Yaw

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 7

Velocity profile

0 500 1000 1500-10

0

10

20

Ea

st

Velocity (m/s)

0 500 1000 1500-40

-20

0

20

Nort

h

0 500 1000 1500-1

-0.5

0

0.5

Time (s)

Up

Linear accelerations

500 1000 1500-20

0

20

East

Linear acceleration (m/s2)

500 1000 1500-5

0

5

Nort

h

500 1000 1500-10

0

10

Time (s)

Up

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 8

Angular accelerations

500 1000 1500-10

0

10P

itch

Angular acceleration (deg/s)

500 1000 1500-20

0

20

Roll

500 1000 1500-50

0

50

Time (s)

Yaw

Navigation solutions

� Reference solution is produced by AIMS PRO (OSU

EKF-based software)

� MEMS IMU solutions are created/investigated by

� SPIN Lab at The Ohio State University

� University of Melbourne, Australia

� University of New South Wales, Sydney, Australia

� National Technical University of Athens, Greece

� Budapest University of Technology and

Economics, Hungary

� Vienna University of Technology, Austria

FIG Working Week 2011FIG Working Week 2011

Bridging the Gap between Cultures

Marrakech, Morocco, 18‐22 May 2011 9

Summary

� IAG/FIG Working Group, formed in 2009 to support research in

using MEMS IMUs, conducted a successful data acquisition

campaign at the Campus of The Ohio State University in May

2010

� Eight MEMS and four navigation/tactical-grade IMU sensors were

used in the field tests

� All the IMU data sets are GPS time-tagged and reference solution

based on a H764G GPS/IMU solution was created by OSU

� Ongoing activities of the WG are:

� Continue with MEMS IMU processing

� Research/publications at large

� Data portal/web-site developments (University of Melbourne)

� Standardizing data formats, including metadata and

measurement data stream in various formats, such as ASCII

(CSV), Matlab, XML, etc., (OSU)