kongdaqing / calibrate_accelerometer

algrithem of calibrating accelerometer with least sqaured optimization

calibrate_accelerometer

algrithm of calibrating accelerometer with least sqaured optimization

Model:

<<<<<<< HEAD

            1   psi  -theta    kx  0   0          bx  <br>

======= &nbsp &nbsp 1 psi -theta phi

75d8174d82cdfe627dd53284ecb508da06bdaf2e acc_calibr = [-psi 1 phi ][ 0 ky 0](acc + [ by ])
theta -phi 1 0 0 kz bz

Residual:

F(x) = (acc_calibr.norm - G_Norm)^2 + weight*(theta * theta + phi * phi + psi * psi)
Note:后面一项是惩罚因子，用于限制安装误差角不要太大

数据采集要求：

1、平放、左面向上、右面向上、前面向上、后面向上、翻放每次达15s左右；
2、不同角度的斜放30s左右；