Home Articles List Article Information
Journal of Electrical and Computer Engineering Innovations
Journal Archive
Volume Volume 6 (2018)
Volume Volume 5 (2017)
Volume Volume 4 (2016)
Volume Volume 3 (2015)
Volume Volume 2 (2014)
Volume Volume 1 (2013)
Ranjbaran, S., Roudbari, A., Ebadollahi, S. (2018). A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer. Journal of Electrical and Computer Engineering Innovations, 6(1), 1-6. doi: 10.22061/jecei.2018.797
Saeed Ranjbaran; Alireza Roudbari; Saeed Ebadollahi. "A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer". Journal of Electrical and Computer Engineering Innovations, 6, 1, 2018, 1-6. doi: 10.22061/jecei.2018.797
Ranjbaran, S., Roudbari, A., Ebadollahi, S. (2018). 'A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer', Journal of Electrical and Computer Engineering Innovations, 6(1), pp. 1-6. doi: 10.22061/jecei.2018.797
Ranjbaran, S., Roudbari, A., Ebadollahi, S. A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer. Journal of Electrical and Computer Engineering Innovations, 2018; 6(1): 1-6. doi: 10.22061/jecei.2018.797

A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer

Article 2, Volume 6, Issue 1, Winter and Spring 2018, Page 1-6  XML PDF (1063 K)
DOI: 10.22061/jecei.2018.797
Authors
Saeed Ranjbaran 1; Alireza Roudbari2; Saeed Ebadollahi3
1School of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran
2School of Aerospace Engineering, Shahid Sattari University of Aeronautical Engineering, Tehran, Iran
3Iran University of Science and Technology
Abstract
Using field calibration methods without precision laboratory equipment, systematic faults of inertial sensors can be reduced and measurement accuracy can be increased. In this paper, a simple and fast method called improved least squares is used to find calibration coefficients of an accelerometer including bias, scale factor and non-orthogonality. Simulation results show that the measurement accuracy has improved by about 60%. In this method, this principal is used that the magnitude of acceleration measured by accelerometer in static condition is equal to the magnitude of gravity vector and a cost function is then defined.  Also, in gyroscope field calibration, sensor is rotated manually around all three axes separately and then it is put in the static mode. Changes in the angle obtained from gyroscope at each movement are compared with the ones obtained from the calibrated accelerometer. Calibration coefficients including bias and scale factor are obtained using least squares method. Simulation results show that accuracy of the gyroscope has increased by about 40% and comparison with the other methods proves that the proposed method performs well.

Graphical Abstract

A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by Using Accelerometer
Keywords
Accelerometer; Gyroscope; Bias; Scale factor; Non-orthogonality
References
[1]     A. Noureldin, T. B. Karamat, and J. Georgy, Fundamentals of Inertial Navigation, Satellite-Based Positioning and Their Integration: Springer Science & Business Media, 2012.

[2]     J.  C.  Chow,  J.  D.  Hol,  and H.  Luinge,   “Tightly-Coupled  joint user   self-calibration    of    accelerometers,    gyroscopes,    and magnetometers,” Drones, vol. 2, p. 6, 2018.

 [3]    A. G. Hayal, “Static calibration of the tactical grade inertial measurement units,” M.Sc. dissertation, The Ohio State University, 2010.

[4]     G. Secer and B. Barshan, “Improvements in deterministic error modeling and calibration of inertial sensors and magnetometers,” Sensors and Actuators A: Physical, vol. 247, pp. 522-538, 2016.

[5]     D. Titterton, J. L. Weston, and J. Weston, “Strapdown inertial navigation technology,” 2nd ed. IET, 2004.

[6]     A. Lawrence, Modern Inertial Technology: Navigation, Guidance, and Control: Springer Science & Business Media, 2012.

[7]     S. Wang and S. Ren, “Calibration of cross quadratic term of gyro accelerometer on centrifuge and error analysis,” Aerospace Science and Technology, vol. 43, no. 6, pp. 30-36, 2015.

[8]     J. Rohac, M. Sipos, and J. Simanek, “Calibration of low-cost triaxial inertial sensors,” IEEE Instrumentation & Measurement Magazine, vol. 18, no. 6, pp. 32-38, 2015.

[9]     U. Qureshi and F. Golnaraghi, “An algorithm for the in-field calibration of a MEMS IMU,” IEEE Sensors Journal, vol. 17, no. 22, pp. 7479-7486, 2017.

[10]  F. Ferraris, U. Grimaldi, and M. Parvis, “Procedure for effortless in-field calibration of three-axial rate gyro and accelerometers,” Sensors and Materials, vol. 7, no. 5, pp. 311-330, 1995.

[11]  J. C. Lötters, J. Schipper, P. Veltink, W. Olthuis, and P. Bergveld, “Procedure for in-use calibration of triaxial accelerometers in medical applications,” Sensors and Actuators A: Physical, vol. 68, no. 1-3, pp. 221-228, 1998.

[12]  S. Bhatia, H. Yang, R. Zhang, F. Höflinger, and L. Reindl, “Development of an analytical method for IMU calibration,” in Proc. 13th International Multi-Conference on Systems, Signals & Devices (SSD), pp. 131-135, Leipzig, Germany, 2016.

[13]  L. Ma, W. Chen, B. Li, Z. You, and Z. Chen, “Fast field calibration of MIMU based on the powell algorithm,” Sensors, vol. 14, no. 9, pp. 16062-16081, 2014.

[14]  Q. Lin, “Error Parameters Identification of Accelerometer Based on AFSA,” Applied Mechanics and Materials, vol. 543, pp. 1161-1166, 2014.

[15]  D. Tedaldi, A. Pretto, and E. Menegatti, “A robust and easy to implement method for IMU calibration without external equipments,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 3042-3049, Hong Kong, China, 2014.

[16]  J. Lv, A. A. Ravankar, Y. Kobayashi, and T. Emaru, “A method of low-cost IMU calibration and alignment,” in Proc. IEEE/SICE International Symposium on System Integration (SII), pp. 373-378, Sapporo, Japan, 2016.

 [17] Y. Wu and L. Pei, “Gyroscope calibration via magnetometer,” IEEE Sensors Journal, vol. 17, no. 16, pp. 5269-5275, 2017.

[18]  K. Brink and A. Soloviev, “Filter-based calibration for an IMU and multi-camera system,” in Proc. Position Location and Navigation Symposium (PLANS), IEEE/ION, pp. 730-739, Myrtle Beach, SC, USA, 2012.

 [19] S. Ranjbaran and S. Ebadollahi, “Fast and precise solving of non-linear optimisation problem for field calibration of triaxial accelerometer,” Electronics Letters, vol. 54, no. 3, pp. 148-150, 2018.

  [20] Z. Syed, P. Aggarwal, C. Goodall, X. Niu, and N. El-Sheimy, “A new multi-position calibration method for MEMS inertial navigation systems,” Measurement Science and Technology, vol. 18, no. 7, pp. 1897-1907, 2007.

[21]  Z. Syed, P. Aggarwal, C. Goodall, X. Niu, and N. El-Sheimy, “A new multi-position calibration method for MEMS inertial navigation systems,” Meas. Sci. Technol, vol. 18, pp. 1897-1907, 2007.

[22]  I. Skog and P. Händel, “Calibration of a MEMS inertial measurement unit,” in Proc. XVII IMEKO World Congress, pp. 1-6, Rio de Janeiro, 2006.

[23]  J. Zhang, J. Bai, J. Wu, J. Zeng, and X. Lai, “Fast field calibration of MEMS-based IMU for quadrotor's applications,” Sensors &,Transducers Journal,  vol. 151, no. 4, pp. 1- 9, 2013.

[24]  E.-H. Shin and N. El-Sheimy, “A new calibration method for strapdown inertial navigation systems,” Fachbeiträge, vol. 127, pp. 41-50, 2002.

Statistics
Article View: 935
PDF Download: 513