Automatic calibration of low cost inertial gyroscopes with a PTU

摘要

This work proposes a low cost calibration method for micro-electro-mechanical inertial (MEMS) gyroscopes, using a camera pan-tilt base. The use of MEMS gyroscopes in practical robotics measurements requires preliminary calibration. Three calibration procedures are currently found in the literature to estimate the sensor calibration parameters which are based on static, quasi-static and dynamic measurements. This paper focus in the investigation of quasi-static calibration procedure which consists in moving the sensor in a path with known kinematics. High complexity calibration mechanisms were proposed in the literature, which require user intervention. This paper proposes a simple procedure to calibrate a gyroscope using an automatic camera pan tilt base. The sensor parameters are estimated using direct pseudo inversion of a coefficients matrix. The method is validated experimentally on two different IMU platforms.