Calibration against orientation drifts in a real-time Embedded inertial Measurement Unit

Author

Bui Hong Hue ; Nguyen Ngoc Hung ; Tran Xuan Kien ; Do Duc Hanh ; Doan Minh Dinh ; Le Ba Yen ; Le Danh Tuan

Author_Institution

Coll. of Urban Works Constr., Minist. of Constr., Ha Noi, Vietnam

fYear

2014

fDate

27-29 April 2014

Firstpage

84

Lastpage

89

Abstract

This paper presents the development and implementation of an Inertial Measurement Unit (IMU) where Micro-Electro-Mechanical System (MEMS) sensors are used to measure angular velocity and acceleration, a magnetic sensor (magnetometer) is used to calibrate against orientation drifts, a Global Positioning System (GPS) signal receiver is integrated and an extended Kalman filter algorithm is applied for real time signal processing to estimate the attitude of an object in space. The MATLAB/Simulink Embedded tool and C30/MPLAB Compiler are used to design, compile, and download directly into the target. An update rate of 100Hz with real time floating point processing can be achieved for the extended Kalman algorithm using a Microchip 16 bit dsPIC33f256 microcontroller.

Keywords

Global Positioning System; Kalman filters; acceleration measurement; angular velocity measurement; calibration; magnetic sensors; magnetometers; microcontrollers; microsensors; nonlinear filters; real-time systems; signal processing; C30/MPLAB Compiler; GPS signal receiver; Global Positioning System; MATLAB-Simulink embedded tool; MEMS sensors; acceleration measurement; angular velocity measurement; calibration; extended Kalman filter algorithm; magnetic sensor; magnetometer; microchip 16 bit dsPIC33f256 microcontroller; microelectromechanical system; orientation drifts; real time signal processing; real-time embedded inertial measurement unit; Equations; Global Positioning System; Kalman filters; Magnetic sensors; Magnetometers; Mathematical model; Attitude Estimation; Embedded System; Extended Kalman Filter; IMU; MEMS Sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing, Management and Telecommunications (ComManTel), 2014 International Conference on

Conference_Location

Da Nang

Print_ISBN

978-1-4799-2904-7

Type

conf

DOI

10.1109/ComManTel.2014.6825584

Filename

6825584