Self-calibration-method for an inertial navigation system with three 3D sensors

Author

Koppe, Enrico ; Augustin, Daniel ; Liers, Achim ; Schiller, Jochen

Author_Institution

Div. 8.1 Meas. & Testing Technol., BAM Fed. Inst. for Mater. Res. & Testing, Berlin, Germany

fYear

2014

fDate

25-26 Feb. 2014

Firstpage

1

Lastpage

4

Abstract

Inertial Navigation Systems with three 3D sensors are used to localize moving persons. The accuracy of the localization depends on the quality of the sensor data of the multi-sensor system. In order to improve the accuracy, a self-calibration process based on the automatic 3D calibration was developed. Based on the calibration procedure of the accelerometer (ACC) and the magnetic field sensor (MAG), the additional integration of the gyroscope (GYRO) leads to a reduction of the indoor positioning error. This improves both the approximation for the accelerometer and the magnetic field sensor so that the standard deviation of a single sensor is minimized. A new calibration procedure of the gyroscope and the accuracy improvement of the localization of a moving person are presented.

Keywords

Global Positioning System; accelerometers; calibration; gyroscopes; inertial navigation; magnetic field measurement; magnetic sensors; sensor fusion; 3D sensor; ACC; GYRO; MAG; accelerometer; automatic 3D calibration; gyroscope; indoor positioning error reduction; inertial navigation system; magnetic field sensor; moving person localization; multisensor system; self-calibration-method; Accelerometers; Calibration; Gyroscopes; Magnetic field measurement; Magnetic fields; Magnetic sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Inertial Sensors and Systems (ISISS), 2014 International Symposium on

Conference_Location

Laguna Beach, CA

Type

conf

DOI

10.1109/ISISS.2014.6782522

Filename

6782522