关键词：光机电；微机电系统(MEMS)；惯性传感器；惯性导航；人体运动
摘 要：Microelectromechanical systems (MEMS) inertial sensors are commonly used in applications such as inertial navigation and human motion tracking. These inertial sensors provide three-dimensional (3D) orientation, acceleration, rate of turn, and magnetic field information. Manufacturers specify both static and dynamic accuracy for the 3D orientation output of MEMS inertial sensors. The dynamic accuracy is in the form of a root-mean-square (RMS) error and is only valid for certain motions, which are not specified. In this thesis, an investigation of the dynamic accuracy of the Xsens Motion Tracker (MTx) inertial sensor was conducted. The yaw or heading dynamic accuracy of the Microstrain 3DM-GX3-25 inertial sensor also was investigated. A pendulum test apparatus from a previous work was used to test the MTx and GX3. An encoder is installed to the pendulum axis of rotation and provides the reference data needed to calculate the dynamic accuracy of the MTx and GX3. After a series of motion tests, it was concluded that the MTx was within manufacturer specifications for static accuracy but not for dynamic accuracy. More specifically, the heading or yaw accuracy of the MTx and GX3 did not meet manufacturer specifications under the testing motions chosen in this study.