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Dynamic Accuracy of Inertial Magnetic Sensor Modules

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Naval Postgraduate School Monterey United States

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Magnetic, angular rate, and gravity MARG sensor modules have extensive applications in inertial navigation and motion tracking. A wide assortment of these sensor modules exist at varying cost points. In the current fiscal environment, affordable devices are needed however, performance cannot be sacrificed.The main purpose of the study is to devise a series of tests to evaluate the dynamic accuracy of the LORD MicroStrain 3DM-GX4-25 Attitude Heading Reference System AHRS. Previous NPS theses have been constrained to static tests and dynamic, rotational tests in a single axis of motion. Utilizing the OptiTrack Motion Capture System, we examine the dynamic accuracy of the 3DM-GX4-25 for rotations in a single axis of motion and arbitrary motions in three-dimensional space, compare the dynamic accuracy against other MARG sensor modules used in previous NPS theses, and provide a cost analysis of the 3DM-GX4-25. Although the dynamic accuracy of the 3DM-GX4-25 met performance specifications for most cases, another MARG sensor module existed with better performance and lower cost.

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Technical Report



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Approved For Public Release;

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