Low-Cost Inertial Measurement Unit Calibration With Nonlinear Scale Factors

Inertial measurement units (IMUs) have been widely used to provide accurate location and movement solutions, along with the advances of modern manufacturing technologies. The scale factors accelerometers gyroscopes are linear when range sensors reasonably small, but factor becomes nonlinear gets much bigger. Based on this observation, article presents a calibration method for low-cost IMU by effectively deriving sensors. Two motion patterns sensor rigid object moved collect data calibration: One pattern is upcast rotate object, another place stable base in different attitudes. rotation produces centripetal Coriolis force, which increases accelerometers. Four cost functions weight two sets utilized optimize parameters. comes from derived formula input values variance noise sampled data. proposed approach was validated evaluated both synthetic real-world sets, experimental results demonstrated superiority improving accuracy long-range use. In particular, errors acceleration angular velocity led our algorithm significantly smaller than those resulted existing approaches using same testing demonstrating remarkable improvement 64.12% 47.90%, respectively.