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This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multilevel constraints, including the pseudoobservations, the accelerometer and magnetometer measurements, and the quasi-static attitude updates, are used to make the method reliable and accurate under...
Commercial, industrial, and military aerospace designs are increasingly deploying MEMS micro inertial measurement unit (MIMU) for motion control, automation, and positioning applications, such as the unmanned aerial vehicle (UAV), robot, and smart phone. On the one hand, MIMU has the merit of low cost, small size, low-power consumption, and high shock resistance, but on the other hand, low-cost MIMU...
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