摘要
针对安卓(Android)智能手机的微机电系统(micro-electro-mechanical systems,MEMS)惯性测量单元(inertial measurement unit,IMU)传感器数据精度评估相对较少,尤其在复杂场景下对GNSS信号跟踪辅助作用不明确的问题,对11款Android手机的IMU数据质量从零偏估值、尺度因子和导航误差积累三方面进行了定量评估.结果表明:1)手机端内置加速度计精度与稳定性相对较好,零偏估值一般优于100 mGal;2)内置陀螺精度和稳定性相对较差,零偏估值一般在5°~20°/h;3)陀螺观测存在尺度因子误差且量级差异较大,经过尺度因子误差校正后IMU导航误差积累情况得到明显改善;4)IMU导航误差小于10 m时,单独导航时间一般不超过30 s;5)一般新款手机IMU性能指标明显优于旧款.本研究为了解手机端IMU传感器精度水平,进一步削弱其误差影响,实现复杂场景下辅助GNSS信号重新捕获及用户精密定位提供了技术支持.
Regarding the relatively limited research on the accuracy evaluation of Android smartphone micro-electro-mechanical systems(MEMS)inertial measurement unit(IMU)sensor data,particularly the ambiguous aiding role of GNSS signal tracking in complex scenarios,this paper quantitatively assesses IMU data quality from 11 Android smartphones through three aspects:bias estimates,scale factor,and navigation error accumulation.The results demonstrate that:1)The built-in accelerometers generally show better accuracy and stability with bias estimates typically below 100 mGal;2)The embedded gyroscopes exhibit relatively poorer precision and stability with bias estimates ranging 5°~20°/h;3)Significant scale factor errors exist in gyroscopic observations with varying magnitudes,and navigation error accumulation shows marked improvement after scale factor error calibration;4)When IMU navigation errors are required to be within 10 m,the standalone navigation duration generally does not exceed 30 seconds;5)Newer smartphone models generally exhibit significantly better IMU performance metrics than older ones.This research provides technical support for understanding smartphone IMU sensor accuracy levels,further mitigating error impacts,and enabling assisted GNSS signal reacquisition along with precise user positioning in complex scenarios.
作者
丁杨
柴艳菊
张宝成
DING Yang;CHAI Yanju;ZHANG Baocheng(State Key Laboratory of Geodesy and Earth's Dynamics,Innovation Academy for Precision Measurement Science and Technology,Chinese Academy of Sciences,Wuhan 430077,China;College of Earth and Planetary Sciences,University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《全球定位系统》
2025年第3期14-22,共9页
Gnss World of China
基金
湖北省技术创新计划(2024BAB027)
国家重点研发计划(2022YFB3903903)
中国国家铁路集团有限公司科技研究开发计划(N2023X003)。
