The deterministic errors of an accelerometer comprise the prevailing i) bias, ii) scale factor, and iii) non-orthogonality. Together, these errors result in a nonlinear measurement model, which is conventionally solved via an iterative nonlinear least-squares method. In contrast to the conventional approach, we propose a novel method to transform the above nonlinear model into a system of linear equations, resulting in an exact, closed-form solution of the deterministic errors. The developed mathematical formulations are first verified in a simulation setting, followed by a real-time implementation using Robot Operating System for small micro-electromechanical inertial measurement units.


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    Title :

    Linear Estimation of Deterministic Accelerometer Errors


    Contributors:
    Julien Burkhard (author) / Aman Sharma (author) / Jan Skaloud (author)


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





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