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Carnegie Mellon Robotics Institute

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Abstract

We present an easy-to-use calibration method for MEMS inertial sensor units based on the Factorization method which was originally invented for shape-and-motion recovery in computer vision. Our method requires no explicit knowledge of individual motions applied during calibration procedure. Instead a set of motion constraints in the form of an innerproduct is used to factorize sensor measurements into a calibration matrix (that represents intrinsic sensor parameters) and a motion matrix (that represents acceleration or angular velocity). These motion constraints can be collected quickly from a lowcost calibration apparatus. Our method is not limited to just triad configurations but also applicable to any coordination of more than three sensor elements. A redundant configuration has the benefit that all the calibration parameters including biases are estimated at once. Simulation and experiments are provided to verify the proposed method.

Keywords

IMU calibration, Factorization method

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Myung Hwangbo and Takeo Kanade, "Factorization-Based Calibration Method for MEMS Inertial Measurement Unit," Proceedings International Conference on Robotics and Automation, May, 2008.

BibTeX Reference

@inproceedings{Hwangbo_2008_6412,
   author = "Myung Hwangbo and Takeo Kanade",
   title = "Factorization-Based Calibration Method for MEMS Inertial Measurement Unit",
   booktitle = "Proceedings International Conference on Robotics and Automation",
   month = "May",
   year = "2008",
}

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