Inertial navigation static calibration

Slawomir Niespodziany


Inertial navigation is a device, which estimates
its position, based on sensing external conditions (such as
acceleration or angular velocity). It is widely used in variuos
applications. Its presence in a drone vehicle for example, allows
flight stabilization, by position estimation and feedback-based
regulation algorithm execution. A smartphone makes a use of
inertial navigation by detecting movement and flipping screen
orientation. It is a ubiquitous part of many devices of everyday
use, but before using filters and algorithms allowing to calculate
the position, a calibration must first be applied to the device. This
paper focuses on a separate calibration of each of the sensors
- an accelerometer, gyroscope and magnetometer. The further
step requires a cross–sensor calibration, and the third step is
implementation of data filtration algotithm.

Full Text:



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