Calibration Method for 6 DOF Acceleration Sensor Systems Using Multiple Accelerometers
This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a set of 6 DOF acceleration data is to be essential to its calibration. In this accelerometer system, 6 DOF acceleration can be resolved using th...
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| Published in | Transactions of the Japan Society of Mechanical Engineers Series C Vol. 72; no. 724; pp. 3798 - 3805 |
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| Main Authors | , |
| Format | Journal Article |
| Language | Japanese |
| Published |
The Japan Society of Mechanical Engineers
2006
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0387-5024 1884-8354 |
| DOI | 10.1299/kikaic.72.3798 |
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| Abstract | This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a set of 6 DOF acceleration data is to be essential to its calibration. In this accelerometer system, 6 DOF acceleration can be resolved using the geometrical condition of 6 linear accelerometers. Therefore, the measurement error results from the alignment error of the 6 linear accelerometers. And so, we analyze the alignment error and give a caribration method to identify the error only using some limited linear accelerations (acceleration of gravity). This paper discusses its calibration method with experiments for our prototype 6 DOF accelerometer. The results show that the calibration using limited data is possible and has good performance. |
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| AbstractList | This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a set of 6 DOF acceleration data is to be essential to its calibration. In this accelerometer system, 6 DOF acceleration can be resolved using the geometrical condition of 6 linear accelerometers. Therefore, the measurement error results from the alignment error of the 6 linear accelerometers. And so, we analyze the alignment error and give a caribration method to identify the error only using some limited linear accelerations (acceleration of gravity). This paper discusses its calibration method with experiments for our prototype 6 DOF accelerometer. The results show that the calibration using limited data is possible and has good performance. |
| Author | ONODERA, Ryoji MIMURA, Nobuharu |
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| DOI | 10.1299/kikaic.72.3798 |
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| References | (5) Ohta K., Kobayashi K., Measurement of Angular Velocity and Angular Acceleration in Sports Using Extended Kalman Filter, Transactions of the Society of Instrument and Control Engineers, Vol. 31, No. 9 (1995), pp. 1265-1272. (11) Doi S., Vehicle Dynamics Performance Evaluations Through Human Dynamic Properties, TOYOTA Central Labs R&D Review, Vol.30, No.3 (1995), pp. 3-15. (1) Tamagawa Seiki Co., LTD, An introduction to gyro practical use technology in Japanese, (2002), p. 17, Kogyo Chosakai Publishing Inc. (2) Fraden, J., Handbook of Modern Sensors, (2004), pp.301-322, AIP Press. (8) Onodera R., Mimura N., Stability Analysis of 6 DOF Acceleration Sensor System Using Multiple Accelerometers, The 22th Annual Conference of the Robotics Society of Japan (RSJ2004), (2004), 2A14. (9) Mimura N., Onodera R., Stability Analysis of 6 DOF Acceleration Sensor System Using Multiple Accelerometers, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 71, No. 707 (2005), pp. 2218-2224. (4) Ohta K., Kobayashi K., Measurement of Angular Velocity and Angular Acceleration in Sports Using Accelerometers, Transactions of the Society of Instrument and Control Engineers, Vol. 30, No. 12 (1994), pp. 1442-1448. (6) Nagata, K. et al, Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing, Journal of the Robot Society of Japan, Vol.14, No.8 (1996), pp.1221-1228. (10) Onodera R., Mimura N., Six-Degree-of-Freedom Motion Sensor System Using Multiple Accelerometers, 36th International Symposium on Robotics (ISR2005), TU416. (12) Ono E., Doi S., Vehicle Running Stability Analysis and Spin Control, TOYOTA Central Labs R&D Review, Vol.32, No.1 (1997), pp. 13-22. (7) Kaneko, M. and Nishihara, T., Basic Study of Six-Axis Force Sensor Design Based on Combination Theory, Journal of the Robot Society of Japan, Vol.!!, No.8 (1993), pp.1261-1271. (3) Padgaonkar, A. J., Krieger, K. W., King, A. I., Measurement of Angular Acceleration of a Rigid Body Using Linear Accelerometers, Transaction of the ASME, Journal of Applied Mechanics, 42, (1975), pp. 552-556. |
| References_xml | – reference: (4) Ohta K., Kobayashi K., Measurement of Angular Velocity and Angular Acceleration in Sports Using Accelerometers, Transactions of the Society of Instrument and Control Engineers, Vol. 30, No. 12 (1994), pp. 1442-1448. – reference: (5) Ohta K., Kobayashi K., Measurement of Angular Velocity and Angular Acceleration in Sports Using Extended Kalman Filter, Transactions of the Society of Instrument and Control Engineers, Vol. 31, No. 9 (1995), pp. 1265-1272. – reference: (2) Fraden, J., Handbook of Modern Sensors, (2004), pp.301-322, AIP Press. – reference: (1) Tamagawa Seiki Co., LTD, An introduction to gyro practical use technology in Japanese, (2002), p. 17, Kogyo Chosakai Publishing Inc. – reference: (3) Padgaonkar, A. J., Krieger, K. W., King, A. I., Measurement of Angular Acceleration of a Rigid Body Using Linear Accelerometers, Transaction of the ASME, Journal of Applied Mechanics, 42, (1975), pp. 552-556. – reference: (7) Kaneko, M. and Nishihara, T., Basic Study of Six-Axis Force Sensor Design Based on Combination Theory, Journal of the Robot Society of Japan, Vol.!!, No.8 (1993), pp.1261-1271. – reference: (11) Doi S., Vehicle Dynamics Performance Evaluations Through Human Dynamic Properties, TOYOTA Central Labs R&D Review, Vol.30, No.3 (1995), pp. 3-15. – reference: (12) Ono E., Doi S., Vehicle Running Stability Analysis and Spin Control, TOYOTA Central Labs R&D Review, Vol.32, No.1 (1997), pp. 13-22. – reference: (9) Mimura N., Onodera R., Stability Analysis of 6 DOF Acceleration Sensor System Using Multiple Accelerometers, Transactions of the Japan Society of Mechanical Engineers, Series C, Vol. 71, No. 707 (2005), pp. 2218-2224. – reference: (10) Onodera R., Mimura N., Six-Degree-of-Freedom Motion Sensor System Using Multiple Accelerometers, 36th International Symposium on Robotics (ISR2005), TU416. – reference: (6) Nagata, K. et al, Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing, Journal of the Robot Society of Japan, Vol.14, No.8 (1996), pp.1221-1228. – reference: (8) Onodera R., Mimura N., Stability Analysis of 6 DOF Acceleration Sensor System Using Multiple Accelerometers, The 22th Annual Conference of the Robotics Society of Japan (RSJ2004), (2004), 2A14. |
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| Snippet | This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a... |
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| SubjectTerms | 6 DOF Acceleration Calibration Error Analysis Measurement Sensor |
| Title | Calibration Method for 6 DOF Acceleration Sensor Systems Using Multiple Accelerometers |
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