スマートフォン内蔵のGNSSとIMUは移動ロボットのナビゲーションに利用できるのか？

抄録

Smartphones are equipped with sensors such as GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit), and recently APIs have been released to access their raw sensor data. The performance and accuracy of using smartphones as sensors for robot navigation, especially for position estimation, has not been fully evaluated. Therefore, this paper compares GNSS and IMU observation data acquired by smartphones with commercially available GNSS receivers and IMUs. Comparative experiments in a static environment showed that the noise of the GNSS pseudorange observations was greater than that of commercial GNSS receivers, and the stability of the IMU accelerometer and angular rate sensor bias was comparable to that of commercial low-cost IMUs. These results provide guidelines for the use of smartphones as sensors for robot navigation.