I need to analyse the performance of a system that uses inertial sensor readings as input. My knowledge of IMUs is very basic, having only read a few introductory texts.
My understanding is that IMU accuracy degrades with continuous use due to drift, which results in accumulated error.
What other operational factors (i.e. not the specific device/components, but IMUs in general) effect the accuracy of IMUs?
I have noticed in my application that the system performance degrades when the object moves, especially when the movement is fast, and then improves once the movement slows, and reaches a halt. What aspect(s) of IMUs causes this?
To be more specific, the sensors give orientation as quaternions (rotational offset from the sensor coordinate system to a global coordinate system). The error fluctuates over time (duration of about 15 seconds), however there is not an incline in error over time. Based on this, I believe IMU drift is not an issue here.
What I am interested in understanding is why the estimate error of the object's orientation fluctuates based on the amount and speed of the object's motion.
If it helps, I am using Xsen MTx IMUs.