全球定位系统2025，Vol.50Issue(3)：14-22,9.DOI:10.12265/j.gnss.2025047
Android智能手机的MEMS IMU精度指标分析
Analysis of MEMS IMU accuracy metrics for Android smartphones
摘要
Abstract
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.关键词
微机电系统(MEMS)/惯性测量单元(IMU)/阿伦(Allan)方差/零偏不稳定性(BI)/尺度因子/机械编排/GNSSKey words
micro-electro-mechanical systems(MEMS)/inertial measurement unit(IMU)/Allan variance/bias instability(BI)/scale factor/mechanizations/GNSS分类
天文与地球科学引用本文复制引用
丁杨,柴艳菊,张宝成..Android智能手机的MEMS IMU精度指标分析[J].全球定位系统,2025,50(3):14-22,9.基金项目
湖北省技术创新计划(2024BAB027) （2024BAB027）
国家重点研发计划(2022YFB3903903) （2022YFB3903903）
中国国家铁路集团有限公司科技研究开发计划(N2023X003) （N2023X003）
