TY - JOUR
T1 - Low-Cost Inertial Measurement Unit Calibration with Nonlinear Scale Factors
AU - Zhang, Xin
AU - Zhou, Changle
AU - Chao, Fei
AU - Lin, Chih Min
AU - Yang, Longzhi
AU - Shang, Changjing
AU - Shen, Qiang
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61673322 and Grant 61673326, in part by the Fundamental Research Funds for the Central Universities under Grant 20720190142, and in part by the Key Project of National Key R and D Project under Grant 2017YFC1703303. Paper no. TII-21-0595. The authors would like to thank the anonymous reviewers for their constructive comments, which helped greatly in revising this work.
Publisher Copyright:
© 2022 IEEE Computer Society. All rights reserved.
PY - 2022/2/1
Y1 - 2022/2/1
N2 - Inertial measurement units (IMUs) have been widely used to provide accurate location and movement measurement solutions, along with the advances of modern manufacturing technologies. The scale factors of accelerometers and gyroscopes are linear when the range of the sensors are reasonably small, but the factor becomes nonlinear when the range gets much bigger. Based on this observation, this article presents a calibration method for low-cost IMU by effectively deriving the nonlinear scale factors of the sensors. Two motion patterns of the sensor on a rigid object are moved to collect data for calibration: One motion pattern is to upcast and rotate the rigid object, and another pattern is to place the rigid object on a stable base in different attitudes. The rotation motion produces centripetal and Coriolis force, which increases the measurement range of accelerometers. Four cost functions with different weight factors and two sets of data are utilized to optimize the IMU parameters. The weight factor comes from derived formula with input values which are the variance of the noise of the sampled data. The proposed approach was validated and evaluated on both synthetic and real-world data sets, and the experimental results demonstrated the superiority of the proposed approach in improving the accuracy of IMU for long-range use. In particular, the errors of acceleration and angular velocity led by our algorithm are significantly smaller than those resulted from the existing approaches using the same testing data sets, demonstrating a remarkable improvement of 64.12% and 47.90%, respectively.
AB - Inertial measurement units (IMUs) have been widely used to provide accurate location and movement measurement solutions, along with the advances of modern manufacturing technologies. The scale factors of accelerometers and gyroscopes are linear when the range of the sensors are reasonably small, but the factor becomes nonlinear when the range gets much bigger. Based on this observation, this article presents a calibration method for low-cost IMU by effectively deriving the nonlinear scale factors of the sensors. Two motion patterns of the sensor on a rigid object are moved to collect data for calibration: One motion pattern is to upcast and rotate the rigid object, and another pattern is to place the rigid object on a stable base in different attitudes. The rotation motion produces centripetal and Coriolis force, which increases the measurement range of accelerometers. Four cost functions with different weight factors and two sets of data are utilized to optimize the IMU parameters. The weight factor comes from derived formula with input values which are the variance of the noise of the sampled data. The proposed approach was validated and evaluated on both synthetic and real-world data sets, and the experimental results demonstrated the superiority of the proposed approach in improving the accuracy of IMU for long-range use. In particular, the errors of acceleration and angular velocity led by our algorithm are significantly smaller than those resulted from the existing approaches using the same testing data sets, demonstrating a remarkable improvement of 64.12% and 47.90%, respectively.
KW - Inertial measurement unit (IMU) calibration
KW - low-cost IMU
KW - nonlinear scale factors
UR - http://www.scopus.com/inward/record.url?scp=85105857179&partnerID=8YFLogxK
U2 - 10.1109/TII.2021.3077296
DO - 10.1109/TII.2021.3077296
M3 - Article
AN - SCOPUS:85105857179
SN - 1551-3203
VL - 18
SP - 1028
EP - 1038
JO - IEEE Transactions on Industrial Informatics
JF - IEEE Transactions on Industrial Informatics
IS - 2
ER -