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Performance Assessment of the Android Smartphone’s IMU in a GNSS/INS Coupled Navigation Model

2019; Institute of Electrical and Electronics Engineers; Volume: 7; Linguagem: Inglês

10.1109/access.2019.2956239

2169-3536

Wenlin Yan, Luísa Bastos, Américo Magalhães,

Context-Aware Activity Recognition Systems

We have been focused on the exploitation of the limits of the performance of low cost sensors, used in an integrated way, both for classical and geodetic navigation. In this work, the navigation performance of the Android smartphone's IMU was assessed thoroughly. The raw IMU data from two smartphones, "Xiaomi 8" and "Honor Play" were recorded, using different sampling rates, and compared with the measurements, recorded simultaneously from higher grade IMU's. For assessing the navigation capabilities of the smartphones IMU sensors, two kinematic tests were designed. In these tests, the smartphones IMU data were processed using a 15-state Kalman Filter developed by our group, while the reference IMU data were processed using a commercial software. The details of the comparisons between the positioning, velocity and attitude solutions are discussed. The results show that the navigation solutions of both smartphones are quite close to that of the reference IMUs', showing differences of around 0.2 m in positioning, 0.3 m/s in velocity, and 1° in roll and pitch. The quality of the yaw estimation, with an accuracy of a few degrees, is clearly worse than that of the other attitude parameters. However, the results of the second test reveal that using a higher data rate setting for the IMU samplings, it is possible to improve the solution. The assessment study of the smartphone's IMUs performed in this work can be useful for the development of many different applications, including the exploitation for Autonomous Vehicles, Intelligent Transport Systems, and Smart Cities.