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Sensors 2014, 14(8), 14885-14915; doi:10.3390/s140814885

Time- and Computation-Efficient Calibration of MEMS 3D Accelerometers and Gyroscopes

Faculty of Electrical Engineering, University of Ljubljana, Ljubljana 1000, Slovenia
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Received: 18 June 2014 / Revised: 30 July 2014 / Accepted: 11 August 2014 / Published: 13 August 2014
(This article belongs to the Special Issue Optical Gyroscopes and Navigation Systems)
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Abstract

We propose calibration methods for microelectromechanical system (MEMS) 3D accelerometers and gyroscopes that are efficient in terms of time and computational complexity. The calibration process for both sensors is simple, does not require additional expensive equipment, and can be performed in the field before or between motion measurements. The methods rely on a small number of defined calibration measurements that are used to obtain the values of 12 calibration parameters. This process enables the static compensation of sensor inaccuracies. The values detected by the 3D sensor are interpreted using a generalized 3D sensor model. The model assumes that the values detected by the sensor are equal to the projections of the measured value on the sensor sensitivity axes. Although this finding is trivial for 3D accelerometers, its validity for 3D gyroscopes is not immediately apparent; thus, this paper elaborates on this latter topic. For an example sensor device, calibration parameters were established using calibration measurements of approximately 1.5 min in duration for the 3D accelerometer and 2.5 min in duration for the 3D gyroscope. Correction of each detected 3D value using the established calibration parameters in further measurements requires only nine addition and nine multiplication operations. View Full-Text
Keywords: MEMS sensors; accelerometer; gyroscope; sensor calibration; general 3D sensor model; Simultaneous Orthogonal Rotation Angle (SORA) MEMS sensors; accelerometer; gyroscope; sensor calibration; general 3D sensor model; Simultaneous Orthogonal Rotation Angle (SORA)
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Stančin, S.; Tomažič, S. Time- and Computation-Efficient Calibration of MEMS 3D Accelerometers and Gyroscopes. Sensors 2014, 14, 14885-14915.

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