Abstract
This paper presents a novel approach for hand-held low-cost MEMS (micro-electro-mechanical system) gyroscope in-self calibration. This method does not need the support of external high-precision equipment compared with traditional calibration scheme and can be accomplished by user hand rotation. In this approach, Kalman filter is designed to perform the calibration procedure and estimate gyroscope bias error, scale factor error and non-orthogonal error. The system observability is analyzed and the dynamic rotating conditions under which the sensor errors become observable are derived. The design principles of optimal calibration procedure are provided as well. Both simulated and practical experiments are carried out to test the validation of the proposed calibration algorithm. The achieved results demonstrate that the introduced approach can provide promising calibration scheme for the low-cost MEMS gyroscope.
Highlights
Rapid development of MEMS technology and advances in manufacturing industry has made it possible to produce low-cost consumer-grade inertial sensors
The MEMS inertial sensor is advantageous in chip-size minimization, low-cost manufacturing, lower power consumption, and has been applied in multiple applications, such as vehicle and pedestrian navigation, wearable electronic devices, augmented reality (AR)
The MEMS inertial sensor suffers from various error sources and thermal drifts, which can cause negative effects on its utilization
Summary
Rapid development of MEMS (micro-electro-mechanical system) technology and advances in manufacturing industry has made it possible to produce low-cost consumer-grade inertial sensors (i.e., gyroscope, accelerometer). A calibration process is highly required to determine the sensor errors and mitigate the drift. The calibration approaches and technologies have been well researched and studied, such as the local level frame (LLF) method and six-position static method [2]. These traditional calibration methods are primarily designed for in-lab tests and high-quality sensors, such as navigation or tactical grade IMUs (inertial measurement unit), and often require the use of special references (i.e., Earth rotation) such as alignment to a given frame or specialized equipment [3]. Using the specific high-level laboratory conditions to calibrate the low-cost MEMS sensor is always costly and meaningless
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