Inertial navigation static calibration
Abstract
Inertial navigation is a device, which estimatesits position, based on sensing external conditions (such as
acceleration or angular velocity). It is widely used in variuos
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.
References
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STMicroelectronics: iNEMO inertial module: always-on 3D accelerometer
and 3D gyroscope
Ozyagcilar, Talat. ”Calibrating an ecompass in the presence of hard and
soft-iron interference.” Freescale Semiconductor Ltd (2012).
Pedley, Mark. ”High precision calibration of a three-axis accelerometer.”
Freescale Semiconductor Application Note 1 (2013).
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.
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