Università degli Studi di Padova Dipartimento di Ingegneria dell ’ Informazione
نویسندگان
چکیده
In this thesis, I propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. The method only requires the sensor to be moved by hand and placed in a set of different, static positions (attitudes). I describe a robust and quick calibration protocol that exploits an effective parameterless static filter to reliably detect the static intervals in the sensor measurements, where local stability of the gravity’s magnitude is assumed. First the accelerometers triad is calibrated taking measurement samples in the static intervals. Then these results are exploited to calibrate the gyroscopes, employing a robust numerical integration technique. The performances of the proposed calibration technique has been successfully evaluated via extensive simulations and real experiments with a commercial IMU provided with a calibration certificate as reference data.
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