A Calibration Algorithm for Microelectromechanical Systems Accelerometers in Inertial Navigation Sensors

摘要

In the present work we develop an algorithm for calibrating MEMS sensors,which accounts for the nonorthogonality of the accelerometers' axis, as well asfor the constant bias and scaling errors. We derive an explicit formula forcomputing the calibrated acceleration, given data from the sensors. We alsostudy the error, that is caused by the nonorthogonality of the axis.