estimating mems gyroscope stronggstrong-sensitivity errors in foot mounted.pdfVIP

Estimating MEMS Gyroscope G-Sensitivity Errors in Foot Mounted Navigation Jared B. Bancroft and Gérard Lachapelle Department of Geomatics Engineering, University of Calgary Calgary, Canada j.bancroft@ucalgary.ca , Gerard.Lachapelle@ucalgary.ca Abstract—Errors in gyroscope measurements due to linear improved. Many MEMS gyros state the g-sensitivity’s accelerations are often overlooked in foot mounted navigation coefficient maximum value thereby allowing the maximum systems. Accelerations of foot mounted IMUs can reach 5 g while error to be approximated. For example, a 225 °/hr error could walking and 10 g while running, but vary depending on the be induced from a 5 g acceleration during heel strike if the data sensors location and mounting. These accelerations are often sheet indicated that the coefficient had a maximum value of very short and can induce large biases in the gyro which can 45 °/hr/g. When the error is integrated over a short period, produce attitude errors when the measurements are integrated. such as 25 ms, the single instance error is a mere 0.0016°. This paper proposes a real time method for the mitigation of g- However, the accumulation over one hour of regular walking sensitivity errors whereby the coefficients are estimated in the