An accurate calibration method for accelerometer nonlinear scale factor on a low-cost three-axis turntable

Pan, Jianye; Zhang, Chunxi; Cai, Qingzhong

doi:10.1088/0957-0233/25/2/025102

Cited by 45 publications

(25 citation statements)

References 6 publications

(10 reference statements)

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“…The error model of the accelerometer can be expressed as follows [16,17]:

[\begin{matrix} A_{x} \\ A_{y} \\ A_{z} \end{matrix}] = {[A_{m}]}_{3 \times 3} \cdot [\begin{matrix} \frac{1}{k_{x}} & 0 & 0 \\ 0 & \frac{1}{k_{y}} & 0 \\ 0 & 0 & \frac{1}{k_{z}} \end{matrix}] \cdot [\begin{array}{l} left & A_{x} & - e_{x} \\ left & A_{y} & - e_{y} \\ left & A_{z} & - e_{z} \end{array}] = [\begin{matrix} a_{11} & a_{12} & a_{13} \\ a_{21} & a_{22} & a_{23} \\ a_{31} & a_{32} & a_{33} \end{matrix}] \cdot [\begin{matrix} A_{x 0} \\ A_{y 0} \\ A_{z 0} \end{matrix}] + [\begin{matrix} a_{10} \\ a_{20} \\ a_{30} \end{matrix}]

…”

Section: The Proposed Calibration Methodsmentioning

confidence: 99%

A Measuring System for Well Logging Attitude and a Method of Sensor Calibration

Ren

Wang

et al. 2014

Sensors

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This paper proposes an approach for measuring the azimuth angle and tilt angle of underground drilling tools with a MEMS three-axis accelerometer and a three-axis fluxgate sensor. A mathematical model of well logging attitude angle is deduced based on combining space coordinate transformations and algebraic equations. In addition, a system implementation plan of the inclinometer is given in this paper, which features low cost, small volume and integration. Aiming at the sensor and assembly errors, this paper analyses the sources of errors, and establishes two mathematical models of errors and calculates related parameters to achieve sensor calibration. The results show that this scheme can obtain a stable and high precision azimuth angle and tilt angle of drilling tools, with the deviation of the former less than ±1.4° and the deviation of the latter less than ±0.1°.

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“…The error model of the accelerometer can be expressed as follows [16,17]:

[\begin{matrix} A_{x} \\ A_{y} \\ A_{z} \end{matrix}] = {[A_{m}]}_{3 \times 3} \cdot [\begin{matrix} \frac{1}{k_{x}} & 0 & 0 \\ 0 & \frac{1}{k_{y}} & 0 \\ 0 & 0 & \frac{1}{k_{z}} \end{matrix}] \cdot [\begin{array}{l} left & A_{x} & - e_{x} \\ left & A_{y} & - e_{y} \\ left & A_{z} & - e_{z} \end{array}] = [\begin{matrix} a_{11} & a_{12} & a_{13} \\ a_{21} & a_{22} & a_{23} \\ a_{31} & a_{32} & a_{33} \end{matrix}] \cdot [\begin{matrix} A_{x 0} \\ A_{y 0} \\ A_{z 0} \end{matrix}] + [\begin{matrix} a_{10} \\ a_{20} \\ a_{30} \end{matrix}]

…”

Section: The Proposed Calibration Methodsmentioning

confidence: 99%

A Measuring System for Well Logging Attitude and a Method of Sensor Calibration

Ren

Wang

et al. 2014

Sensors

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“…Then these rates will be multiplied by a gain and added to the former position of the cursor [10]- [11]. After that, only the integer part // Get the instantaneous accelerations along X, Y and Z of this new position which is in the form of double will be applied.…”

Section: The Building Of Drive Program In Computermentioning

confidence: 99%

The Design of Two Versions of 3D Mouse

Sun

Cheng

Wang

et al. 2014

2014 International Conference on IT Convergence and Security (ICITCS)

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As the substitute of standard mice, 3D mice (Air mice) have been widely researched. Compared with standard mice, 3D mice are able to operate off table. Many types of 3D mice have been developed and tested for computer or TV. These 3D mice can be utilized as 3 dimensional interfaces with the PC for various applications such as 3D images and 3D games. Although most of them are more intuitive than standard mice, they pay the price of higher expense. This paper presents two intuitive, low-cost 3D mice. One is the Android phone based 3D mouse; another is the MCU based 3D mouse. Both of them implemented the same functions and share the same drive program. Setup of the project consists of a computer drive and a hand held motion detector. The motion detector measures the rate of rotation and acceleration of itself at three dimensions. And these data are then sent to the computer and converted into the movement of the cursor on the computer screen.

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“…For traditional systems, the linear simplified model is used in most calibration methods. For improving the calibration accuracy of an optic gyro IMU, Cai et al [ 7 ] and Pan et al [ 8 ] proposed different calibration methods while considering the accelerometer second order nonlinear scale factor. However, it cannot satisfy the requirement of ultra-high accuracy atomic gyro IMUs.…”

Section: Introductionmentioning

confidence: 99%

“…However, because more error terms are considered in the ultra-high accuracy calibration model, it cannot decouple all the parameters only by the norm information of gravity and the Earth’s rotation. The systematic calibration method proposed by Pan et al [ 8 ] can solve all parameters relative to the gradient of velocity errors when the INS navigates in a given rotation sequence. However, in the ultra-high accuracy calibration model, the coupling relation between the parameters and the navigation errors are too complex to deduce the analytical solution of all parameters.…”

Section: Introductionmentioning

confidence: 99%

Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units

Cai

Yang

Song

et al. 2016

Sensors

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An inertial navigation system (INS) has been widely used in challenging GPS environments. With the rapid development of modern physics, an atomic gyroscope will come into use in the near future with a predicted accuracy of 5 × 10−6°/h or better. However, existing calibration methods and devices can not satisfy the accuracy requirements of future ultra-high accuracy inertial sensors. In this paper, an improved calibration model is established by introducing gyro g-sensitivity errors, accelerometer cross-coupling errors and lever arm errors. A systematic calibration method is proposed based on a 51-state Kalman filter and smoother. Simulation results show that the proposed calibration method can realize the estimation of all the parameters using a common dual-axis turntable. Laboratory and sailing tests prove that the position accuracy in a five-day inertial navigation can be improved about 8% by the proposed calibration method. The accuracy can be improved at least 20% when the position accuracy of the atomic gyro INS can reach a level of 0.1 nautical miles/5 d. Compared with the existing calibration methods, the proposed method, with more error sources and high order small error parameters calibrated for ultra-high accuracy inertial measurement units (IMUs) using common turntables, has a great application potential in future atomic gyro INSs.

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An accurate calibration method for accelerometer nonlinear scale factor on a low-cost three-axis turntable

Cited by 45 publications

References 6 publications

A Measuring System for Well Logging Attitude and a Method of Sensor Calibration

A Measuring System for Well Logging Attitude and a Method of Sensor Calibration

The Design of Two Versions of 3D Mouse

Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units

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