Figure 1.
Selected Systems (A) MTx from Xsens (B) APDM Opal and (C) OSv3 from Inertial Labs.
AHRS Systems and their Advertised Technical Specifications: (A) Xsens MTx, (B) APDM Opal, and (C) Inertial Labs OSv3.
Figure 2.
Bench Test Apparatus and Optical Marker Setup.
(A) General Bench Test Overview (B) Payload.
Figure 3.
Orientation Tracking Overview.
Orientation tracking with AHRS system and optical gold standard during single axis motion along with the computed error. Gimbal Table velocity at ≈90deg/s (A and C) and ≈180deg/s (B and D).
Figure 4.
Absolute Accuracy in Dynamic Conditions.
Absolute Accuracy in Dynamic Condition for (A) Xsens MTx, (B) APDM Opal and (C) Inertial Labs OSv3. *Standard deviation is illustrated one-way for clarity purpose.
Figure 5.
Relative Accuracy in Dynamic Conditions.
Relative Accuracy in Dynamic Conditions for (A) Xsens MTx, (B) APDM Opal and (C) Inertial Labs OSv3. *Standard deviation is illustrated one-way for clarity purpose.
Table 1.
Effect of Velocity on Absolute Accuracy and Relative accuracy.