Calibration of a Mems Inertial Measurement Unit

  title={Calibration of a Mems Inertial Measurement Unit},
  author={Isaac Skog and Peter H{\"a}ndel},
An approach for calibrating a low-cost IMU is studied, requiring no mechanical platform for the accelerometer calibration and only a simple rotating table for the gyro calibration. The proposed calibration methods utilize the fact that ideally the norm of the measured output of the accelerometer and gyro cluster are equal to the magnitude of applied force and rotational velocity, respectively. This fact, together with model of the sensors is used to construct a cost function, which is minimized… CONTINUE READING
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