Data Collection for IMU Intrinsic calibration

Data Collection for IMU Intrinsic calibration

The IMU Intrinsic calibration application requires the accelerometer and gyroscope measurements from six orientations of the 6 axis IMU Sensor. The images listed below indicate the orientations needed in this process. Also, it is a required condition that the surface on which the sensor has been kept is flat and does not have a roll and pitch angle of its own. The following orientations are required for the calibration:

1. +X-UP: In this orientation, the positive X-axis of the IMU sensor is in the up direction.

2. +Y-UP: In this orientation, the positive Y-axis of the IMU sensor is in the up direction.

3. +Z-UP: In this orientation, the positive Z-axis of the IMU sensor is in the up direction.

4. -X-UP: In this orientation, the negative X-axis of the IMU sensor is in the up direction.

5. -Y-UP: In this orientation, the negative Y-axis of the IMU sensor is in the up direction.

6. -Z-UP: In this orientation, the negative Z-axis of the IMU sensor is in the up direction.

Note: In all these orientations, only one axis has a defined direction. It is because the other axes do not need to be in a particular direction. As long as the mentioned axis is pointing where it should, the data coming from it should be fine.

Note: The data is expected to be in a csv file with no header, and the data values are in this order: timestamp, accel_x(m/s2), accel_y, accel_z, gyro_x, gyro_y, gyro_z

Note: Many IMU sensors have onboard hardware calibration for the values reported by the sensor. In those cases, no intrinsic calibration is required to be done. To check if intrinsic calibration is required for an IMU sensor, the user can upload the IMU data in the given format on our tool, and see if the values reported as gyro_x, gyro_y and gyro_z are close to zero. If that is the case, no intrinsic calibration is not required and the default intrinsic parameter values to be used with our tools are as follows:

Accel_offset = [0, 0, 0]

Accel_scale = [1, 1, 1]

Gyro_offset = [0, 0, 0]