inertial-measurement-unit.pdf

2016-04-13T05:37:34Z (GMT) by Searle Vincent
Inertial Measurement Units (IMUs) are common sensors which output linear acceleration, angular velocity, and strength of the magnetic field. Unless calibrated, low-end IMUs lack the accuracy of a motion capture (MC) system. This paper presents a method for calibrating IMUs using a MC system to increase the accuracy of low-end IMUs. This was accomplished through gradient-free optimization in correlation with the Madgwick Filter. It will be shown that this method can produce a root mean square error of 3.63◦when compared to MC Euler angle estimations.