Article Figures & Data
Figures
- FIGURE 1
Simulation results
- FIGURE 2
(a) Lab test scenario (L1 and L2) at Ecole Polytechnique Federale de Lausanne; (b) field test scenario (F1 and F2) at Vufflens-la-ville, Switzerland
Tables
- TABLE 1
Field Test Results Highlighting the i) Norm of Bias, ii) Mean Scale Factor, and iii) Mean Non-Orthogonality
Test (Method) IMU Estimated Bias [mg] Estimated 3σ Bias [mg] Datasheet Bias 1σ [mg] Estimated Scale [ppm] Estimated Non-Ortho. [deg] Datasheet Non-Ortho. [deg] L1 (full LLS) dahu 0 0.86 ±0.20 1.4 853 0.02 0.05 dahu 1 0.76 ±0.20 936 0.03 dahu 2 0.96 ±0.20 810 0.01 dahu 3 0.80 ±0.20 913 0.01 L2 (full LLS) dahu 0 0.70 ±0.24 1081 0.03 dahu 1 0.60 ±0.24 996 0.03 dahu 2 1.05 ±0.24 939 0.01 dahu 3 0.82 ±0.24 991 0.01 F1 (bias-only LLS) dahu 0 1.45 ±0.38 - dahu 1 1.40 ±0.38 dahu 2 1.45 ±0.38 dahu 3 1.69 ±0.38 F2 (bias-only LLS) dahu 0 0.80 ±0.38 dahu 1 0.62 ±0.38 dahu 2 1.11 ±0.38 dahu 3 1.00 ±0.38 F1 (bias-only LLS) stim 3.46 ±0.04 1.5 F2 (bias-only LLS) stim 1.83 ±0.04
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