IMU Intrinsic Calibration

Overview: IMU Intrinsic Calibration App is a software tool that makes the process of calibrating an IMU sensor simple and quick.

1. Calibration List PageThis page contains the list of calibrations. You can launch an existing dataset, delete and even manage your access to these datasets.

2. IMU Intrinsic Calibration Launch

You can select an existing IMU Intrinsic calibration from the list page, or click on the “New Calibration” button on the top-right of the calibration list page and select the IMU Intrinsic in the window that pops.

3. Start Page

The page lists the important instructions and requirements that you need to follow in order to complete the calibration process.

• Start the app by clicking on the “Get Started” button

• Input the name you wish to give this calibration. This name will be shown on the calibration-list page. And then click on “Set Details”

4. Upload the data files to their corresponding orientations

Upload the sensor data files collected for each orientation to their concerned file upload section.

5. Calibrate

Once you have uploaded all the files, you will get the “Run Calibration” button enabled for you. Click on it. Once the calibration results have been calculated, the results will appear on the right side of the screen.

6. Visualise

You can visualise the impact of the calibration parameters on your data. Click on the visualise button on the top-right side of the screen. You will be presented with a screen having a selectable list of orientations, the calibration parameters on the right, and at the center, you will be able to see the timechart of your accelerometer and gyroscope input data on the left and their calibrated values on the right side.

7. Export

You can export the results of the calibration using the “Export” button on the top-right of the page. Fill in the name of the output file and click on Export.

8. Calibration Parameters:

The IMU Intrinsic Calibration App results in 9 parameter values, 6 for accelerometer calibration and 3 for gyroscope calibration. The accelerometer comes with three scale values and three offset values. The gyroscope comes with three offset values. They relate the uncalibrated sensor data to calibrated sensor data as following:

Cali_Accel = (UnCali_Accel + accel_offset) * accel_scale

Cali_Gyro = UnCali_Gyro + gyro_offset