A Robust Method for Validating Orientation Sensors Using a Robot Arm as a High-Precision Reference

摘要

This paper presents a robust and efficient method for validating the accuracy of orientation sensors commonly used in practical applications, leveraging measurements from a commercial robotic manipulator as a high-precision reference. The key concept lies in determining the rotational transformations between the robot's base frame and the sensor's reference, as well as between the TCP (Tool Center Point) frame and the sensor frame, without requiring precise alignment. Key advantages of the proposed method include its independence from the exact measurement of rotations between the reference instrumentation and the sensor, systematic testing capabilities, and the ability to produce repeatable excitation patterns under controlled conditions. This approach enables automated, high-precision, and comparative evaluation of various orientation sensing devices in a reproducible manner. Moreover, it facilitates efficient calibration and analysis of sensor errors, such as drift, noise, and response delays under various motion conditions. The method's effectiveness is demonstrated through experimental validation of an Inertial Navigation System module and the SLAM-IMU fusion capabilities of the HTC VIVE VR headset, highlighting its versatility and reliability in addressing the challenges associated with orientation sensor validation.