Abstract
The authenticity of the readings of accelerometers and magnetometers is of great importance when using sensors in orientation systems. However, traditionally determined methods of calibration cannot always provide the necessary work and stability of indications. The method of calibration of MEMS accelerometers and magnetometers in the original setting of problems of identification of sensor parameters is considered in the article. The stochastic approach allows for the passage of a calibration from without an exact binding to a specific orientation of the accelerometer, since this does not require additional sensors to determine the angle of rotation. This allows us to use the algorithm for sensors, already fixed on the equipment. The experimental measurements were carried out using a three-axis MEMS sensor MPU-9265. The proposed method makes it possible to completely eliminate the displacement of zero, compensate for the non-unit scale of the axes, and also to determine the orientation of the sensitive axes of the magnetometer. The standard deviation of the experimental data from the reference cloud is less than 1%.
Highlights
In solving scientific-practical problems of synthesis and analysis of signals obtained from navigation devices, great progress has been made
The relevance of the topic is determined by the need to create hardware-software complex of calibration [1, 2] of three-axial MEMS accelerometers and magnetometers in order to reduce the error in determining the angular coordinates
The practical importance of the work is determined, on the one hand, by the high need for such calibration systems, and, on the other hand, in reducing the cost of mass-produced sensors and, elimination of presale calibration of sensors
Summary
In solving scientific-practical problems of synthesis and analysis of signals obtained from navigation devices, great progress has been made. The relevance of the topic is determined by the need to create hardware-software complex of calibration [1, 2] of three-axial MEMS accelerometers and magnetometers in order to reduce the error in determining the angular coordinates. The resolution of the problem of the authenticity of the data obtained depends on the accuracy of the calibration of the navigation sensors and the algorithm for processing their signals. The solution of the calibration problem realizes the identification of the sensitivity ellipsoid over the cloud of points, which, unlike deterministic methods, makes it possible to determine the zero shift and statistically validate the gain factors, and to determine the orientation of the sensitive axes
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