Dead Reckoning using IMU and comparison with GPS

February 2022

Motivation: Class assignment

Objective: To capture moving dataset for GPS + IMU sensors in car, perform dead reckoning on it and compare with ground truth (i.e. GPS)

Details: We were a team of four who contributed to making this project under the guidance of our professor/ TAs.

Tools and Resources:

  • VectorNav VN-100 IMU sensor mounted on car’s dashboard
  • GlobalSat: BU-353-S4 USB GPS Receiver mounted on car’s rooftop
  • MATLAB

Steps followed:

  1. Drive car in circles 3-4 times for magnetometer calibration and then drive around the city performing a loop closure
  2. Record the dataset in a rosbag file
  3. Perform Magnetomoter calibration (soft and hard iron correction)
  4. Calculate heading from magnetometer and compare with IMU heading
  5. Estimate velocity from both IMU and GPS and compare them
  6. Perform dead reckoning

Below animation is a summary of this project.