Inertial Navigation Static Calibration

• Autorzy: Niespodziany S.

Identyfikatory

DOI

10.24425/119518

• Języki publikacji: EN

Abstrakty

EN

Inertial navigation is a device, which estimates its position, based on sensing external conditions (such as acceleration or angular velocity). It is widely used in various applications. Its presence in a drone vehicle for example, allows flight stabilization, by position estimation and feedback-based regulation algorithm execution. A smartphone makes a use of inertial navigation by detecting movement and flipping screen orientation. It is a ubiquitous part of many devices of everyday use, but before using filters and algorithms allowing to calculate the position, a calibration must first be applied to the device. This paper focuses on a separate calibration of each of the sensors - an accelerometer, gyroscope and magnetometer. The further step requires a cross-sensor calibration, and the third step is implementation of data filtration algotithm.

Słowa kluczowe

EN

inertial; navigation; imu; calibration

• Wydawca: Polish Academy of Sciences, Committee of Electronics and Telecommunication
• Czasopismo: International Journal of Electronics and Telecommunications
• Rocznik: 2018
• Tom: Vol. 64, No. 2
• Strony: 243--248
• Opis fizyczny: Bibliogr. 6 poz., il., wykr.

Twórcy

autor

Niespodziany S.

• Institute of Computer Science, Warsaw University of Technology, Poland

Bibliografia

• [1] Skog, Isaac, and Peter Hndel.” Calibration of a MEMS inertial measurement unit.” XVII IMEKO World Congress. 2006.
• [2] Freescale Semiconductor: Xtrinsic MAG3110 Three-Axis, Digital Magnetometer.
• [3] STMicroelectronics: iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope.
• [4] Ozyagcilar, Talat.” Calibrating an ecompass in the presence of hard and soft-iron interference.” Freescale Semiconductor Ltd (2012).
• [5] Pedley, Mark.” High precision calibration of a three-axis accelerometer.” Freescale Semiconductor Application Note 1 (2013).
• [6] Lee, Dongkyu, et al.” Test and error parameter estimation for MEMSbased low cost IMU calibration.” International Journal of Precision Engineering and Manufacturing 12.4 (2011): 597-603.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).