Factorization-based calibration method for MEMS inertial measurement unit
- 1 May 2008
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 1306-1311
- https://doi.org/10.1109/robot.2008.4543384
Abstract
We present an easy-to-use calibration method for MEMS inertial sensor units based on the factorization method which was originally invented for shape-and-motion recovery in computer vision. Our method requires no explicit knowledge of individual motions applied during calibration procedure. Instead a set of motion constraints in the form of an inner-product is used to factorize sensor measurements into a calibration matrix (that represents intrinsic sensor parameters) and a motion matrix (that represents acceleration or angular velocity). These motion constraints can be collected quickly from a low-cost calibration apparatus. Our method is not limited to just triad configurations but also applicable to any coordination of more than three sensor elements. A redundant configuration has the benefit that all the calibration parameters including biases are estimated at once. Simulation and experiments are provided to verify the proposed method.Keywords
This publication has 11 references indexed in Scilit:
- Initial calibration of an inertial measurement unit using an optical position tracking systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Calibration of a Redundant IMUPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2004
- RIMU Misalignment Vector DecompositionPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2004
- Multiple View Geometry in Computer VisionPublished by Cambridge University Press (CUP) ,2004
- Real-time and 3D vision for autonomous small and micro air vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Gravity based online calibration for monolithic triaxial accelerometers' gain and offset driftPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A Low-Cost, Redundant Inertial Measurement Unit for Unmanned Air VehiclesThe International Journal of Robotics Research, 2000
- Initial calibration and alignment of low‐cost inertial navigation units for land vehicle applicationsJournal of Robotic Systems, 1999
- The Shape From Motion Approach to Rapid and Precise Force/Torque Sensor CalibrationJournal of Dynamic Systems, Measurement, and Control, 1997
- Shape and motion from image streams under orthography: a factorization methodInternational Journal of Computer Vision, 1992