Factorization-Based Calibration Method for MEMS Inertial Measurement Unit - Robotics Institute Carnegie Mellon University

Factorization-Based Calibration Method for MEMS Inertial Measurement Unit

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1306 - 1311, May, 2008

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.

BibTeX

@conference{Hwangbo-2008-9972,
author = {Myung Hwangbo and Takeo Kanade},
title = {Factorization-Based Calibration Method for MEMS Inertial Measurement Unit},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2008},
month = {May},
pages = {1306 - 1311},
keywords = {IMU calibration, Factorization method},
}