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Calibration of the Accelerometer Triad of an Inertial Measurement Unit, Maximum Likelihood Estimation and Cramer-Rao Bound
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
2010 (English)In: International Conference on Indoor Positioning and Indoor Navigation (IPIN), Zurich, September 15-17, 2010, IEEE , 2010, 1-6 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a simple method to calibrate the accelerometer cluster of an inertial measurement unit (IMU) is proposed. The method does not rely on using a mechanical calibration platform that rotates the IMU into different precisely controlled orientations. Although the IMU is rotated into different orientations, these orientations do not need to be known. Assuming that the IMU is stationary at each orientation, the norm of the input is considered equal to the gravity acceleration. As the orientations of the IMU are unknown, the calibration of the accelerometer cluster is stated as a blind system identification problem where only the norm of the input to the system is known. Under the assumption that the sensor noises have a white Gaussian distribution the system identification problem is solved using the maximum likelihood estimation method. The accuracy of the proposed calibration method is compared with the Cram´er- Rao bound for the considered calibration problem.

Place, publisher, year, edition, pages
IEEE , 2010. 1-6 p.
Keyword [en]
IMU, calibration, maximum likelihood estimation, blind system identification
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-44515DOI: 10.1109/IPIN.2010.5646832ISI: 000345209100028Scopus ID: 2-s2.0-78650719846ISBN: 978-1-4244-5864-6 (print)OAI: oai:DiVA.org:kth-44515DiVA: diva2:450820
Conference
2010 INTERNATIONAL CONFERENCE ON INDOOR POSITIONING AND INDOOR NAVIGATION (IPIN), 15-17 SEPTEMBER 2010
Note

© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works." QC 20111031

Available from: 2011-10-31 Created: 2011-10-22 Last updated: 2015-06-11Bibliographically approved

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Skog, IsaacJansson, Magnus

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