Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation

Autor:	Carlos Silvestre, Pedro Batista, Paulo Oliveira, B. Cardeira
Rok vydání:	2011
Předmět:	Coupling Engineering Scale (ratio) business.industry Estimation theory Calibration (statistics) Kalman filter Accelerometer Acceleration Control and Systems Engineering Control theory Key (cryptography) Electrical and Electronic Engineering business
Zdroj:	IEEE Transactions on Control Systems Technology. 19:1128-1137
ISSN:	1558-0865 1063-6536
DOI:	10.1109/tcst.2010.2076321
Popis:	Tri-axial linear accelerometers are key components in a great variety of applications and, in particular, in navigation systems. Nonidealities such as scale factors, cross coupling, bias, and other higher-order nonlinearities affect the output of this sensor, leading, in general, to prohibitive errors. On the other hand, these coefficients are often slowly time-varying, which renders offline calibration less effective. One such coefficient that usually varies greatly over time and between power-ons is the bias. This paper details the calibration of an accelerometer unit and presents also a dynamic filtering solution for the bias, which also includes the estimation of the gravity in body-fixed coordinates. Simulation and experimental results obtained with a motion rate table are presented and discussed to illustrate the performance of the proposed algorithms.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d5016e1a5b18ee95f0fa04d5a9444055 https://doi.org/10.1109/tcst.2010.2076321 Zobrazit plný text záznamu