Dismiss Notice
Join Physics Forums Today!
The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

Compensating for Accelerometer Misalignment

  1. Jul 9, 2010 #1

    IMK

    User Avatar

    Hello
    I am developing a programme in C that uses a Tri Axial Accelerometer and I have become bogged down with the maths for correcting cross axis misalignment errors and was wondering if someone could help me please.

    I have two papers on the subject and I have worked my way through the axis offset and scaling. But I am finding this matrix inversion and transposition more than a handful.

    The papers are to be found here:

    This one is the general math
    http://www.summitinstruments.com/knowledge_center/pdf/TN413.pdf

    This one is to an application note from the manufacture of the device I am
    using (or similar)

    http://www.st.com/stonline/products/literature/an/17289.pdf [Broken]

    From Page 9 on is the alignment error correction stuff.
    I have created a Table 2 and written the software to do Equation 1 (I think it is correct). I have managed to write a Matrix Inversion function that I think is correct as I have compared it with the Determinant and Inverted Output from the Online Matrix calculator here; http://www.bluebit.gr/matrix-calculator/

    But now I am stuck, help would really be appreciated.

    Many thanks in advance.
     
    Last edited by a moderator: May 4, 2017
  2. jcsd
  3. Oct 6, 2014 #2
    I am having a similar problem however I am unable to access the papers you have posted. The way I have approach this one is by working out inital roll pitch and yaw using the following;

    roll = arcsin(Xval/1)
    pitch = arcsin(Yval/1)
    yaw = arcos(1/Zval)

    I then input these into rotation matrix in mathlab. However this does not quite give correct result. Am still working with this problem
     
Share this great discussion with others via Reddit, Google+, Twitter, or Facebook