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A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions

Tutkimustuotosvertaisarvioitu

Standard

A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions. / Särkkä, Olli; Nieminen, Tuukka; Suuriniemi, Saku; Kettunen, Lauri.

julkaisussa: IEEE Sensors Journal, Vuosikerta 17, Nro 11, 01.06.2017, s. 3470-3481.

Tutkimustuotosvertaisarvioitu

Harvard

Särkkä, O, Nieminen, T, Suuriniemi, S & Kettunen, L 2017, 'A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions', IEEE Sensors Journal, Vuosikerta. 17, Nro 11, Sivut 3470-3481. https://doi.org/10.1109/JSEN.2017.2694488

APA

Särkkä, O., Nieminen, T., Suuriniemi, S., & Kettunen, L. (2017). A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions. IEEE Sensors Journal, 17(11), 3470-3481. https://doi.org/10.1109/JSEN.2017.2694488

Vancouver

Author

Särkkä, Olli ; Nieminen, Tuukka ; Suuriniemi, Saku ; Kettunen, Lauri. / A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions. Julkaisussa: IEEE Sensors Journal. 2017 ; Vuosikerta 17, Nro 11. Sivut 3470-3481.

Bibtex - Lataa

@article{8c37839a47064979b68388d14ea61b1c,
title = "A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions",
abstract = "This paper presents a calibration method for consumer-grade accelerometers, gyroscopes, and magnetometers. Considering the calibration of consumer-grade sensors, it is essential that no specialized equipment is required to create reference signals. In addition, the less is required from the reference signals, the more suitable the method is on the field. In the proposed method, the novelty in the calibration of the gyroscopes lies in the exploitation of only the known net rotations between the positions in a multi-position calibration. For accelerometers and magnetometers, the innovation is that the direction of reference signals, the gravity and the magnetic field of the Earth, are estimated with calibration parameters. As a consequence, no precise absolute alignment of the sensors is needed in the calibration. The rotations need not be done about a constant axis. In the proposed method, the biases, scale factors, misalignments, and cross-coupling errors for all the sensors as well as hard iron and soft iron effect for magnetometers were modelled. In addition, the drift of the sensors during the calibration was estimated. As a result, all the sensors were calibrated at once to the same frame, exploiting only a cube and a jig and thus, the method is eligible in the field. To estimate the quality of the calibration results, 95{\%} confidence intervals were calculated for the calibration parameters. Simulations were done to indicate that the calibration method is unbiased.",
keywords = "Multi-position calibration, inertial measurement unit (IMU), accelerometer, gyroscope, magnetometer, confidence interval, MEMS GYROS, SYSTEMS",
author = "Olli S{\"a}rkk{\"a} and Tuukka Nieminen and Saku Suuriniemi and Lauri Kettunen",
year = "2017",
month = "6",
day = "1",
doi = "10.1109/JSEN.2017.2694488",
language = "English",
volume = "17",
pages = "3470--3481",
journal = "IEEE Sensors Journal",
issn = "1530-437X",
publisher = "IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC",
number = "11",

}

RIS (suitable for import to EndNote) - Lataa

TY - JOUR

T1 - A Multi-Position Calibration Method for Consumer-Grade Accelerometers, Gyroscopes, and Magnetometers to Field Conditions

AU - Särkkä, Olli

AU - Nieminen, Tuukka

AU - Suuriniemi, Saku

AU - Kettunen, Lauri

PY - 2017/6/1

Y1 - 2017/6/1

N2 - This paper presents a calibration method for consumer-grade accelerometers, gyroscopes, and magnetometers. Considering the calibration of consumer-grade sensors, it is essential that no specialized equipment is required to create reference signals. In addition, the less is required from the reference signals, the more suitable the method is on the field. In the proposed method, the novelty in the calibration of the gyroscopes lies in the exploitation of only the known net rotations between the positions in a multi-position calibration. For accelerometers and magnetometers, the innovation is that the direction of reference signals, the gravity and the magnetic field of the Earth, are estimated with calibration parameters. As a consequence, no precise absolute alignment of the sensors is needed in the calibration. The rotations need not be done about a constant axis. In the proposed method, the biases, scale factors, misalignments, and cross-coupling errors for all the sensors as well as hard iron and soft iron effect for magnetometers were modelled. In addition, the drift of the sensors during the calibration was estimated. As a result, all the sensors were calibrated at once to the same frame, exploiting only a cube and a jig and thus, the method is eligible in the field. To estimate the quality of the calibration results, 95% confidence intervals were calculated for the calibration parameters. Simulations were done to indicate that the calibration method is unbiased.

AB - This paper presents a calibration method for consumer-grade accelerometers, gyroscopes, and magnetometers. Considering the calibration of consumer-grade sensors, it is essential that no specialized equipment is required to create reference signals. In addition, the less is required from the reference signals, the more suitable the method is on the field. In the proposed method, the novelty in the calibration of the gyroscopes lies in the exploitation of only the known net rotations between the positions in a multi-position calibration. For accelerometers and magnetometers, the innovation is that the direction of reference signals, the gravity and the magnetic field of the Earth, are estimated with calibration parameters. As a consequence, no precise absolute alignment of the sensors is needed in the calibration. The rotations need not be done about a constant axis. In the proposed method, the biases, scale factors, misalignments, and cross-coupling errors for all the sensors as well as hard iron and soft iron effect for magnetometers were modelled. In addition, the drift of the sensors during the calibration was estimated. As a result, all the sensors were calibrated at once to the same frame, exploiting only a cube and a jig and thus, the method is eligible in the field. To estimate the quality of the calibration results, 95% confidence intervals were calculated for the calibration parameters. Simulations were done to indicate that the calibration method is unbiased.

KW - Multi-position calibration

KW - inertial measurement unit (IMU)

KW - accelerometer

KW - gyroscope

KW - magnetometer

KW - confidence interval

KW - MEMS GYROS

KW - SYSTEMS

U2 - 10.1109/JSEN.2017.2694488

DO - 10.1109/JSEN.2017.2694488

M3 - Article

VL - 17

SP - 3470

EP - 3481

JO - IEEE Sensors Journal

JF - IEEE Sensors Journal

SN - 1530-437X

IS - 11

ER -