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探讨了智能手机惯性传感器校正的九参数模型的6种形式,利用模量方程构建椭球模型,并通过多项式分解得到类似线性化的迭代模型,进而提出了一种似线性模量标定方法。利用该方法进行手机传感器多位置标定实验时,无需严格控制传感器标定位置或姿态,便可获得传感器的校正参数。以三星S3手机采集的加速度计和陀螺仪数据进行标定实验,计算结果与分析表明,所提方法适用于智能手机传感器的快速标定。
The six forms of the nine parameter model of inertial sensor calibration are discussed. The ellipsoid model is constructed by using the modulus equation and the linearization iterative model is obtained by polynomial decomposition. Then a linear linear modulus calibration method is proposed. When using this method to conduct multi-position calibration of mobile phone sensor, calibration parameters of the sensor can be obtained without strictly controlling the calibration position or attitude of the sensor. The accelerometer and gyroscope data collected by Samsung S3 mobile phone are used to calibrate the experiment. The calculation results and analysis show that the proposed method is suitable for the rapid calibration of smart phone sensors.