Calibration of an IMU Using 3-D Rotation Platform
作者： Rui Zhang , Fabian Hoflinger , Leonhard M. Reind
DOI: 10.1109/JSEN.2014.2303642
关键词: Artificial intelligence 、 System of measurement 、 Rotation (mathematics) 、 Computer vision 、 Orientation (computer vision) 、 Physics 、 Gyroscope 、 Inertial measurement unit 、 Calibration 、 Accelerometer 、 Electronic engineering 、 Coordinate system
摘要: This paper presents complete procedures to calibrate an inertial measurement unit (IMU) using a 3-D rotation platform. Previous works show that all the sensors can be calibrated separately different calibration tools or methods. However, there is no guarantee are aligned one coordinate system. In consequence, existence of axes correlations between have big impact on orientation position determination. Besides, very few literatures report detail gyroscope without professional facilities. Different from previous works, reported in this not only focus scalar and bias removal, but also cover correction angle sensors. addition, relying platform given. The results been validated commercial IMU module. As result, our approaches able achieve similar performance as well minimize
harvard.edu
sci-hub.se 参考文章(12)
Moser David, Mohammed Awad, Kian Sek Tee, Saeed Zahedi, Abbas Dehghani, Triaxial accelerometer static calibration Newswood Limited. ,(2011)
Mark E. Pittelkau, Everything Is Relative in Spacecraft System Alignment Calibration Journal of Spacecraft and Rockets. ,vol. 39, pp. 460- 466 ,(2002) , 10.2514/2.3830
W T Fong, S K Ong, A Y C Nee, Methods for in-field user calibration of an inertial measurement unit without external equipment Measurement Science and Technology. ,vol. 19, pp. 085202- ,(2008) , 10.1088/0957-0233/19/8/085202
Chi Ming Cheuk, Tak Kit Lau, Kai Wun Lin, Yunhui Liu, Automatic calibration for inertial measurement unit international conference on control, automation, robotics and vision. pp. 1341- 1346 ,(2012) , 10.1109/ICARCV.2012.6485340
Rui Zhang, Fabian Hoflinger, Leonhard Reindl, Inertial Sensor Based Indoor Localization and Monitoring System for Emergency Responders IEEE Sensors Journal. ,vol. 13, pp. 838- 848 ,(2013) , 10.1109/JSEN.2012.2227593
Fabian Hoflinger, Jorg Muller, Rui Zhang, Leonhard M. Reindl, Wolfram Burgard, A Wireless Micro Inertial Measurement Unit (IMU) IEEE Transactions on Instrumentation and Measurement. ,vol. 62, pp. 2583- 2595 ,(2013) , 10.1109/TIM.2013.2255977
J.F. Vasconcelos, G. Elkaim, C. Silvestre, P. Oliveira, B. Cardeira, A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame IFAC Proceedings Volumes. ,vol. 41, pp. 172- 177 ,(2008) , 10.3182/20080408-3-IE-4914.00031
J M G Merayo, P Brauer, F Primdahl, J R Petersen, O V Nielsen, Scalar Calibration of Vector Magnetometers Measurement Science and Technology. ,vol. 11, pp. 120- 132 ,(2000) , 10.1088/0957-0233/11/2/304
Manuel Glueck, Alexander Buhmann, Yiannos Manoli, Autocalibration of MEMS accelerometers instrumentation and measurement technology conference. pp. 1788- 1793 ,(2012) , 10.1109/I2MTC.2012.6229157
J. F. Vasconcelos, G. Elkaim, C. Silvestre, P. Oliveira, B. Cardeira, Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame IEEE Transactions on Aerospace and Electronic Systems. ,vol. 47, pp. 1293- 1306 ,(2011) , 10.1109/TAES.2011.5751259