DOI：10.3969/j.issn.1672-3872.2024.09.035
作 者：刘照田 ，赵兴旺 ，陶安迪
（安徽理工大学空间信息与测绘工程学院，安徽 淮南 232001）
摘 要：【目的】受制造工艺与制作成本的约束，Android智能终端中的惯性测量单元原始数据精度较低且包含大量噪声，不能直接使用，导致用户位置服务的体验感较差，亟需对IMU数据质量进行分析，优化设计方法。【方法】通过Allan方差分析法对荣耀8手机和三星Tab S7+平板电脑的IMU原始数据进行分析，得到影响智能终端原始数据精度的各项误差源系数。【结果】1）三星Tab S7+平板电脑IMU输出的陀螺仪数据噪声相比于荣耀8手机更大，且原始数据带宽更宽、数据尖峰较多。2）两种设备的零偏不稳定性、角速率随机游走、速率斜坡数值较大，是影响智能终端IMU数据质量的主要误差源。【结论】同环境下，荣耀8智能手机IMU原始数据精度优于三星Tab S7+平板电脑。未来，可以通过低通滤波等方式减弱量化噪声对IMU数据采集精度的影响，也可通过误差建模的方式予以估计和补偿，提高智能设备IMU数据质量。
关键词：Android智能终端；惯性测量单元；Allan方差；误差分析
Analysis of IMU Data Quality in Android Terminals
Liu Zhaotian, Zhao Xingwang, Tao Andi
(School of Spatial Informatics and Geomatics Engineering, Anhui University of Science and Technology, Anhui Huainan 232001)
Abstract: [Objective] Due to constraints such as manufacturing technology and production costs, the original data accuracy of the inertial measurement unit in Android intelligent terminals is low and contains a large amount of noise, which cannot be directly used, resulting in a poor user experience of location services. It is urgent to analyze the data quality of the IMU and optimize the design method. [Method] Allan analysis of variance was used to analyze the IMU raw data of Honor 8 mobile phone and Samsung Tab S7+tablet, and various error source coefficients that affect the accuracy of smart terminal raw data were obtained. [Result] 1) The gyroscope data noise output by the Samsung Tab S7+tablet IMU is greater than that of the Honor 8 phone, and the raw data bandwidth is wider with more data spikes. 2) The zero bias instability, random angular rate walk, and large rate slope values of the two devices are the main sources of error that affect the data quality of intelligent terminal IMUs. [Conclusion] In the same environment, the original data accuracy of the Honor 8 smartphone IMU is better than that of the Samsung Tab S7+tablet. In the future, the impact of quantization noise on the accuracy of IMU data acquisition can be reduced through low-pass filtering and other methods. Error modeling can also be used to estimate and compensate, improving the quality of IMU data for intelligent devices.
Keywords: Android intelligent terminal; IMU; Allan variance; error analysis
引文信息：[1]刘照田，赵兴旺，陶安迪.Android终端中IMU数据质量分析[J].南方农机，2024，55(9)：128-132.
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