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Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit
journal contributionposted on 21.05.2015 by Luca Bartolomeo, Zhuohua Lin, Salvatore Sessa, Massimiliano Zecca, Hiroyuki Ishii, Atsuo Takanishi
Any type of content formally published in an academic journal, usually following a peer-review process.
In the last years there has been increasing interest on Inertial Measurement Units (IMUs) in several fields, because they can provide a measurement of the orientation, velocity, and acceleration at low cost with high performance. The main reason of the low cost is the possibility to find inertial sensors, as accelerometers, gyroscopes and magnetometers, based on Micro-Electro-Mechanical Systems (MEMS) made by silicon, with further advantages of small dimensions and mass production from the main semiconductor suppliers. In this paper, we present the development of the ultra miniaturized wireless IMU, WB-4 (Waseda Bioinstrumentation number 4), with a 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer. Additionally, we illustrate, together with results, the algorithms used for the data filtering and calibration, with particular emphasis on a new methodology for the online calibration of the digital magnetometer.
This research has been partially supported by a Grant by STMicroelectronics, which also provided the core sensors and the microcontroller. The authors would like to express their acknowledgments to the Italian Ministry of Foreign Affairs, General Directorate for Cultural Promotion and Cooperation, for its support to RoboCasa. Finally, the authors would also like to express their gratitude to Okino Industries LTD, Japan ROBOTECH LTD, SolidWorks Corp, Dyden, LP-Research for their support to the research.
- Mechanical, Electrical and Manufacturing Engineering