OpenShoe

Our recent mod­ules con­tain mul­ti­ple single-chip iner­tial mea­sure­ment units. To get the best per­for­mance out of them, they should be cal­i­brated. How­ever, the “IMU array” setup means stan­dard cal­i­bra­tion pro­ce­dures will not work. We have there­fore devel­oped array cal­i­bra­tion meth­ods for the mod­ules. These have lately been pub­lished in the let­ter below. Mat­lab code for per­form­ing the cal­i­bra­tion and and STL-file and cor­re­spond­ing SCAD-code are also provided.

In short, the mod­ules are inserted in the cal­i­bra­tion body seen above, sta­tic mea­sure­ments are take from all sides, the cal­i­bra­tion para­me­ters are esti­mated in a blind sys­tem iden­ti­fi­ca­tion fash­ion, and code is gen­er­ated which should then be loaded onto the respec­tive module.

John-Olof Nils­son, Isaac Skog, and Peter Hän­del, Align­ing the Forces—Eliminating the Mis­align­ments in IMU Arrays, Instru­men­ta­tion and Mea­sure­ment, IEEE Trans­ac­tions on , vol.PP, no.99, pp.1,1

Repro­ducible research: code, STL/SCAD