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Open AccessArticle

Auto-Correction of 3D-Orientation of IMUs on Electric Bicycles

Robert Bosch GmbH, 70839 Gerlingen-Schillerhoehe, Germany
Institute for Automation and System Engineering, Ilmenau University of Technology, 98693 Ilmenau, Germany
Author to whom correspondence should be addressed.
This paper is an extension version of the conference paper: Jan S.; Jürgen S.; Li P. Auto-Calibration of Bias Compensated 2D-Mounting Orientation of an IMU on an Electric Bicycle using Bike-Specific Motions. In Proceedings of the 2018 IEEE Sensors Conference, New Dehli, India, 28–31 October 2018.
Sensors 2020, 20(3), 589;
Received: 21 November 2019 / Revised: 16 January 2020 / Accepted: 20 January 2020 / Published: 21 January 2020
(This article belongs to the Section Physical Sensors)
The application of inertial measurement units (IMU) in electronically power-assisted cycles (EPACs) has become increasingly important for improving their functionalities. One central issue of such an application is to calibrate the orientation of the IMU on the EPAC. The approach presented in this paper utilizes common bicycling motions to calibrate the 2D- and 3D-mounting orientation of a micro-electro-mechanical system (MEMS) IMU on an electric bicycle. The method is independent of sensor biases and requires only a very low computation expense and, thus, the estimation can be realized in real-time. In addition, the acceleration biases are estimated using a barometric pressure sensor. The experimental results show high accuracy of the calibrated orientation and estimated sensor biases. View Full-Text
Keywords: IMU; mounting estimation; electric bicycle; MEMS; orientation; calibration IMU; mounting estimation; electric bicycle; MEMS; orientation; calibration
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Schnee, J.; Stegmaier, J.; Lipowsky, T.; Li, P. Auto-Correction of 3D-Orientation of IMUs on Electric Bicycles. Sensors 2020, 20, 589.

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