DOAJ Open Access 2024

Linear Estimation of Deterministic Accelerometer Errors

Julien Burkhard Aman Sharma Jan Skaloud

Abstrak

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.

Topik & Kata Kunci

Canals and inland navigation. Waterways Naval Science

Penulis (3)

Julien Burkhard

Aman Sharma

Jan Skaloud

Format Sitasi

APA MLA BibTeX

Burkhard, J., Sharma, A., Skaloud, J. (2024). Linear Estimation of Deterministic Accelerometer Errors. https://doi.org/10.33012/navi.656

Akses Cepat

PDF tidak tersedia langsung

Cek di sumber asli →

Lihat di Sumber doi.org/10.33012/navi.656

Informasi Jurnal

Tahun Terbit: 2024
Sumber Database: DOAJ
DOI: 10.33012/navi.656
Akses: Open Access ✓