Developing a Benchmark Suite for the Evaluation of Orientation Sensors

This paper examines the problem with the lack of standardization through which orientation sensors are evaluated. An orientation sensor is a device for measuring physical orientation, and has many uses including navigation, virtual reality, augmented reality, human-computer interface, and robotic systems. We are specifically concerned with 3-axis sensors implemented on the microelectromechanical level. These sensors are produced and sold with data sheets that outline their performance, but lack the conditions under which the testing takes place. In this research, a testing apparatus was developed, and testing routines were designed to evaluate the different characteristics of orientation sensors under different motion conditions. Three orientation sensors, each in a different price range, were evaluated with the benchmark suite. The developed testing apparatus is a turntable that can precisely spin an orientation sensor via a stepper motor, and can record its exact orientation along with the heading read from the orientation sensor. Sets of movements we call benchmark routines were designed and implemented to test different properties of the sensors. The results of this research show that the turntable performs correctly, and is a viable way to test orientation sensors. The three orientation sensors tested show that as expected sensors with similar data sheet specifications perform very differently. Under smooth, lowspeed conditions (.1 rev s ), the cheaper MOCOVE orientation sensor outperformed the more expensive InertiaCube3 orientation sensor. However, as the angular velocity increased, the error of the MOCOVE quickly increased. The error of the Honeywell HMR3300 increased as well. Only the InertiaCube3 could accurately measure quicker angular velocities (up to 5-6 rev s ) commonly found when tracking the movements of human head and arm movements. Overall, this research shows the need for such a benchmark, and will aid in the process of choosing an orientation sensor for a particular application.