Linear Estimation of Deterministic Accelerometer Errors

Julien Burkhard, Aman Sharma, and Jan Skaloud

Peer Reviewed

Abstract:	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.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 71, Number 3
Cite this article:	Citation Tools are available on the NAVIGATION open access site https://doi.org/10.33012/navi.656
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