System and Method for Calibrating Inertial Measurement Units

摘要

Inertial measurement units attached to a non-rigid body may measure a common motion event when the body changes direction of travel. Acceleration measurements made by the inertial measurement units of the event are used to determine a common reference direction which in turn can be used to derive, individually for each inertial measurement unit, a new orientation intended to be a better representation of the actual orientation of the inertial measurement unit.

主权项

1. A method for calibrating sensor modules, the method comprising:
obtaining, from each of a plurality of sensor modules attached to a body, a direction measurement of an acceleration event occurring where the sensor module is located on the body, each direction measurement being derived from a present orientation of the sensor module and data on the acceleration event in the sensor module; determining a common reference direction, the common reference direction determined from at least one of the direction measurements; and determining, for at least one of the sensor modules, a new present orientation in which the sensor module would have provided a direction measurement, of the acceleration event occurring where the sensor module is located, that is equivalent to the common reference direction.