Title :
Calibration of an inertial measurement unit
Author :
Paternain, Santiago ; Tailanian, Matias ; Canetti, Rafael
Author_Institution :
Fac. de Ingeniera, Univ. de la Republica, Montevideo, Uruguay
Abstract :
This paper presents a fast and low cost way to calibrate different inertial measurement sensors. In particular the calibration of an accelerometer and a gyroscope using nonlinear least squares is presented. A model of the sensors which includes the main errors that MEMS devices present is used. A calibration method is proposed for estimating the static parameters of the model and a temperature adjustment is proposed and implemented.
Keywords :
accelerometers; calibration; gyroscopes; least squares approximations; microsensors; parameter estimation; MEMS devices; accelerometer; calibration method; gyroscope; inertial measurement sensors; inertial measurement unit; microelectromechanical systems; nonlinear least squares method; static parameter estimation; temperature adjustment; Acceleration; Accelerometers; Calibration; Gyroscopes; Temperature measurement; Temperature sensors;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766539
