Simple, inexpensive, accurate calibration of 9 axis Inertial Motion Unit

Das, SS (2019) Simple, inexpensive, accurate calibration of 9 axis Inertial Motion Unit. In: 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019, 14-18, October 2019, New Delhi.

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Abstract

Absolute orientation estimation is crucial for navigation of robots, drones, unmanned vehicles. It is also needed in bio-metrics, virtual reality, human robot interaction systems and in devices like cell phone, smart watch etc. Nine axis MEMS inertial motion unit(hereafter called IMU) consisting of accelerometer, gyroscope and magnetometer is used widely to obtain absolute orientation. Sensor fusion is used to combine the readings of the individual sensors to obtain correct estimate of the absolute orientation. However MEMS devices are noisy and correct calibration is needed for the sensor fusion to work. Existing libraries on nine axis sensor fusion fail to give accurate drift free orientation estimate as they either don't use accurate calibration algorithms or don't prescribe a way to collect good calibration data. Also it is difficult and time consuming for a hobbyist or a researcher working on bio-metrics or SLAM to implement complex calibration algorithms or to design good calibration rigs. We propose a new calibration setup which consists of some easy to implement calibration algorithms along with a new calibration rig. Our calibration framework attains better accuracy and drift free estimate of absolute orientation than the current state of art libraries. © 2019 IEEE.

Item Type:	Conference Paper
Publication:	2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	cited By 0; Conference of 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019 ; Conference Date: 14 October 2019 Through 18 October 2019; Conference Code:156864
Keywords:	Calibration; Libraries; Sensor data fusion; Unmanned vehicles; Virtual reality, Absolute orientation; Calibration algorithm; Calibration data; Cell phone; Drift-free; Inertial motions; MEMSDevices; Sensor fusion, Human robot interaction
Department/Centre:	Others
Date Deposited:	13 Aug 2020 09:46
Last Modified:	13 Aug 2020 09:46
URI:	http://eprints.iisc.ac.in/id/eprint/64614

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