Developing a Benchmark Suite for the Evaluation of Orientation Sensors

This paper examines the problem with the lack of standardization through which MEMS orientation sensors are evaluated. These sensors are 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 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 implemented to test different properties of the sensors. The results show that the turntable performs correctly, and as expected, sensors with similar data sheets perform differently