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Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

journal contribution
posted on 21.05.2015 by Luca Bartolomeo, Zhuohua Lin, Salvatore Sessa, Massimiliano Zecca, Hiroyuki Ishii, Atsuo Takanishi
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.

Funding

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.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS

Volume

39

Issue

1-4

Pages

779 - 785 (7)

Citation

BARTOLOMEO, L. ... et al, 2012. Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit. International Journal of Applied Electromagnetics and Mechanics, 39 (1-4), pp. 779 - 785.

Publisher

© IOS Press and The Authors

Version

VoR (Version of Record)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2012

Notes

This article is closed access.

ISSN

1383-5416

Language

en

Location

Naples, ITALY

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