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What causes drift in IMU-based localization systems?

Asked on Oct 15, 2025

Answer

Drift in IMU-based localization systems is primarily caused by the accumulation of errors over time due to sensor noise, bias, and integration errors inherent in inertial measurement units (IMUs). These errors can lead to inaccuracies in position and orientation estimates, especially when the IMU is used in isolation without correction from other sensors or systems.

Example Concept: IMU drift occurs because IMUs measure acceleration and angular velocity, which must be integrated over time to estimate position and orientation. Small errors in these measurements, such as sensor noise and bias, accumulate during integration, leading to drift. This is particularly problematic in long-duration operations without external corrections, such as GPS or visual odometry, which can help mitigate these errors by providing absolute position references.

Additional Comment:

IMU drift is often counteracted by sensor fusion techniques, such as using Kalman filters or complementary filters, which combine IMU data with other sensor inputs.
Regular calibration of the IMU can help reduce bias and improve accuracy.
Incorporating additional sensors, like GPS or cameras, can provide external references to correct drift.
Drift is more pronounced in low-cost IMUs due to higher noise and bias levels compared to high-grade IMUs.

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What causes drift in IMU-based localization systems?

Asked on Oct 15, 2025

Answer

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