Title :
Attitude calibration of an accelerometer array
Author :
Parsa, Kourosh ; Angeles, Jorge ; Misra, Arun K.
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
Abstract :
An accelerometer-array attitude-calibration method is proposed. Being based on the compatibility of rigid-body point accelerations, this method can be applied to determine and account for the accelerometer installation errors with a high degree of accuracy. It is assumed that the number or three-axis accelerometers in the array is redundant in order to help reduce the effect of sensor noise, thereby obviating the Kalman-filtering of the signals. Procedures are developed to calculate the angular velocity and acceleration as well as the attitude of the body, all in the body frame. It is demonstrated that even large attitude errors can be dealt with via off-line iterative applications of the scheme.
Keywords :
Runge-Kutta methods; acceleration; accelerometers; angular velocity; calibration; differential equations; iterative methods; kinematics; acceleration; accelerometer array; accelerometer installation errors; angular velocity; attitude calibration; attitude errors; attitude estimation; off-line iterative applications; rigid-body point accelerations; three-axis accelerometers; Acceleration; Accelerometers; Angular velocity; Calibration; Kinematics; Mechanical engineering; Noise measurement; Position measurement; Sensor fusion; Sensor systems;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013350
