Triaxial Sensor Calibration: A Prototype for Accelerometer and Gyroscope Calibration

Abstract

The calibration of an accelerometer, and a gyroscope is performed. A linear sensor model have been used. The triaxial sensor calibration algorithm is based on the minimization of a cost function, and is performed offline. Calibration hardware has been designed, and used to get the calibration data. The algorithm has been tested with the acquired data, and the calibration results are presented. Although the sensor model is linear, some experiences about dealing with non-linearities are exposed.