Abstract
This paper presents a novel calibration algorithm to be used with a gyro-free inertial measurement unit (GF-IMU) based on the use of linear accelerometers (AC). The analytical approach can be implemented in two calibration procedures. The first procedure (P-I) is articulated in the conduction of a static trial, to compute the sensitivity and the direction of the sensing axis of each AC, followed by a dynamic trial, to determine the AC locations. By contrast, the latter procedure (P-II) consists in the calculation of the previously indicated calibration parameters by means of a dynamic trial only. The feasibility of the two calibration procedures has been investigated by testing two GF-IMUs, equipped with ten and six bi-axial linear ACs, with an ad hoc instrumented double-pendulum apparatus. P-I and P-II were compared to a calibration procedure used as a reference (P-REF), which incorporates the AC positions measured with an optoelectronic system. The experimental results we present in this paper demonstrate that (i) P-I is able to determine the calibration parameters of the AC array with a higher accuracy than P-II; (ii) consequently, the errors associated with translational (a0 - g) and rotational () acceleration components for the two GF-IMUs are significantly greater using P-II than P-I and (iii) the errors in (a0 - g) and obtained with P-I are comparable with the ones obtainable by using P-REF. Thus, the proposed novel algorithm used in P-I, in conjunction with the double-pendulum apparatus, can be globally considered a viable tool in GF-IMU calibration.
| Original language | English |
|---|---|
| Article number | 055204 |
| Journal | Measurement Science and Technology |
| Volume | 19 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - May 1 2008 |
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Keywords
- Accelerometer array
- Biomechanics
- Calibration
- IMU
- Navigation
ASJC Scopus subject areas
- Polymers and Plastics
- Ceramics and Composites
- Materials Science (miscellaneous)
Cite this
Two calibration procedures for a gyroscope-free inertial measurement system based on a double-pendulum apparatus. / Cappa, P.; Patanè, F.; Rossi, S.
In: Measurement Science and Technology, Vol. 19, No. 5, 055204, 01.05.2008.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Two calibration procedures for a gyroscope-free inertial measurement system based on a double-pendulum apparatus
AU - Cappa, P.
AU - Patanè, F.
AU - Rossi, S.
PY - 2008/5/1
Y1 - 2008/5/1
N2 - This paper presents a novel calibration algorithm to be used with a gyro-free inertial measurement unit (GF-IMU) based on the use of linear accelerometers (AC). The analytical approach can be implemented in two calibration procedures. The first procedure (P-I) is articulated in the conduction of a static trial, to compute the sensitivity and the direction of the sensing axis of each AC, followed by a dynamic trial, to determine the AC locations. By contrast, the latter procedure (P-II) consists in the calculation of the previously indicated calibration parameters by means of a dynamic trial only. The feasibility of the two calibration procedures has been investigated by testing two GF-IMUs, equipped with ten and six bi-axial linear ACs, with an ad hoc instrumented double-pendulum apparatus. P-I and P-II were compared to a calibration procedure used as a reference (P-REF), which incorporates the AC positions measured with an optoelectronic system. The experimental results we present in this paper demonstrate that (i) P-I is able to determine the calibration parameters of the AC array with a higher accuracy than P-II; (ii) consequently, the errors associated with translational (a0 - g) and rotational () acceleration components for the two GF-IMUs are significantly greater using P-II than P-I and (iii) the errors in (a0 - g) and obtained with P-I are comparable with the ones obtainable by using P-REF. Thus, the proposed novel algorithm used in P-I, in conjunction with the double-pendulum apparatus, can be globally considered a viable tool in GF-IMU calibration.
AB - This paper presents a novel calibration algorithm to be used with a gyro-free inertial measurement unit (GF-IMU) based on the use of linear accelerometers (AC). The analytical approach can be implemented in two calibration procedures. The first procedure (P-I) is articulated in the conduction of a static trial, to compute the sensitivity and the direction of the sensing axis of each AC, followed by a dynamic trial, to determine the AC locations. By contrast, the latter procedure (P-II) consists in the calculation of the previously indicated calibration parameters by means of a dynamic trial only. The feasibility of the two calibration procedures has been investigated by testing two GF-IMUs, equipped with ten and six bi-axial linear ACs, with an ad hoc instrumented double-pendulum apparatus. P-I and P-II were compared to a calibration procedure used as a reference (P-REF), which incorporates the AC positions measured with an optoelectronic system. The experimental results we present in this paper demonstrate that (i) P-I is able to determine the calibration parameters of the AC array with a higher accuracy than P-II; (ii) consequently, the errors associated with translational (a0 - g) and rotational () acceleration components for the two GF-IMUs are significantly greater using P-II than P-I and (iii) the errors in (a0 - g) and obtained with P-I are comparable with the ones obtainable by using P-REF. Thus, the proposed novel algorithm used in P-I, in conjunction with the double-pendulum apparatus, can be globally considered a viable tool in GF-IMU calibration.
KW - Accelerometer array
KW - Biomechanics
KW - Calibration
KW - IMU
KW - Navigation
UR - http://www.scopus.com/inward/record.url?scp=42549142775&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=42549142775&partnerID=8YFLogxK
U2 - 10.1088/0957-0233/19/5/055204
DO - 10.1088/0957-0233/19/5/055204
M3 - Article
AN - SCOPUS:42549142775
VL - 19
JO - Measurement Science and Technology
JF - Measurement Science and Technology
SN - 0957-0233
IS - 5
M1 - 055204
ER -