@inproceedings{93f91df6a5d944f4b4e3f747fc5fc8cd,
title = "Practical considerations in precise calibration of a low-cost MEMS IMU for road-mapping applications",
abstract = "This paper addresses the theoretical and experimental development of a calibration scheme to overcome the intrinsic limitations of a low-cost Micro-Electrical-Mechanical System (MEMS) based Inertial Measurement Unit (IMU). The two-stage calibration algorithm was developed and tested successfully on a six-degree of freedom prototype MEMS IMU to determine the deterministic and stochastic errors of the sensor. This paper makes use of artificial observations known as pseudo-velocity measurements resulting from a specific scheme of rotation to calibrate the IMU in the laboratory environment. The proposed structure is then modified and utilised as a basis for the IMU's error estimation in outdoor navigation applications. For this purpose, the designed calibration method is applied to an integrated GPS/MEMS IMU system, showing improved navigational and road sign positioning performance in a test vehicle.",
keywords = "Bias, Dynamic Calibration, Scale-Factor Error, Static Calibration, the Extended Kalman Filter (EKF)",
author = "Ashkan Amirsadri and Jonghyuk Kim and Lars Petersson and Jochen Trumpf",
year = "2012",
doi = "10.1109/acc.2012.6315131",
language = "English",
isbn = "9781457710957",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "881--888",
booktitle = "2012 American Control Conference, ACC 2012",
address = "United States",
note = "2012 American Control Conference, ACC 2012 ; Conference date: 27-06-2012 Through 29-06-2012",
}