MIMU-calib-tutorial

Supplementary material for Internship lectures about MIMUs calibration procedures.

• ./do_show_something.m Main script
• ./data Folder containing the trials for MIMU calibration
  • ./data/acc_triax.mat Accelerometer tri-axes trial
  • ./data/gyr_static.mat Gyroscope static trial (60 seconds)
  • ./data/mag_spheere.mat Magnetometer sphere drawing trial
• ./functions Folder containing all the routines required for sensors calibration
  • ./functions/accSolver.m Core solver for the optimization problem aiming at estimating offset and cross-axis sensitivity for the three accelerometer axes
  • ./functions/get_acc_calib.m Routine that allows to select the static windows in which each of the axes points towards the positive gravity direction
  • ./get_gyr_bias.m Self-explanatory
  • ./get_mag_calib.m Routine allowing magnetometer bias and scale factor computation from the sphere trial
  • ./get_static_acc_windows.m Self-explanatory

Contacts

Guido Mascia: [email protected]