Sensor fusion has become an important technique in robotics and control systems, but an important source of error has been largely overlooked when fusing inertial acceleration measurements with data from other sensors. Rotational motion causes the acceleration experienced by other sensors mounted to a rigid body to differ from the acceleration measured by the accelerometer. This paper will discuss a method for measuring and compensating for this error.
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Compensation of Accelerometer Displacement for Sensor Fusion Systems
Semantic Scholar · Engineering · 2018
Abstract
Sensor fusion has become an important technique in robotics and control systems, but an important source of error has been largely overlooked when fusing inertial acceleration measurements with data from other sensors. Rotational motion causes the acceleration experienced by other sensors mounted to a rigid body to differ from the acceleration measured by the accelerometer. This paper will discuss a method for measuring and compensating for this error.