Attitude calibration of an accelerometer array

Author

Parsa, Kourosh ; Angeles, Jorge ; Misra, Arun K.

Author_Institution

Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada

Volume

1

fYear

2002

fDate

2002

Firstpage

129

Abstract

An accelerometer-array attitude-calibration method is proposed. Being based on the compatibility of rigid-body point accelerations, this method can be applied to determine and account for the accelerometer installation errors with a high degree of accuracy. It is assumed that the number or three-axis accelerometers in the array is redundant in order to help reduce the effect of sensor noise, thereby obviating the Kalman-filtering of the signals. Procedures are developed to calculate the angular velocity and acceleration as well as the attitude of the body, all in the body frame. It is demonstrated that even large attitude errors can be dealt with via off-line iterative applications of the scheme.

Keywords

Runge-Kutta methods; acceleration; accelerometers; angular velocity; calibration; differential equations; iterative methods; kinematics; acceleration; accelerometer array; accelerometer installation errors; angular velocity; attitude calibration; attitude errors; attitude estimation; off-line iterative applications; rigid-body point accelerations; three-axis accelerometers; Acceleration; Accelerometers; Angular velocity; Calibration; Kinematics; Mechanical engineering; Noise measurement; Position measurement; Sensor fusion; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013350

Filename

1013350