12/11/2022 0 Comments Accelerometer vs gyroscopeScale factor is the relation of the accelerometer input to the actual sensor output for the measurement. This white noise on the output of an accelerometer creates a velocity random walk, usually specified with units m/s/√h. This error in white noise grows proportionally to the square root of time. The outputs from an accelerometer are influenced by sensor noise of the electronics. In practice, this can be achieved by calibration and orthogonality measurement. It is necessary to know the precise orientation of the device with respect to the gravitational field in order to measure the bias. However, there is gravity acting on the accelerometer which will appear as a bias. It is possible to estimate the bias by measuring the long term average of the accelerometer’s output when it is not undergoing any acceleration. A constant bias error causes an error in position which grows with time. The bias of an accelerometer is the offset of its output signal from the actual acceleration value. These errors can result in additional drift. Such errors tend to produce errors when the device is turning. The term ‘calibration errors’ refers to errors in the scale factors, alignments, and linearities of the gyros. This random walk causes error growth proportional to the square root of time. This random noise is an additional signal error source which cannot be modelled out with calibration. MEMS gyros will exhibit high frequency white noise due to thermoelectrical reactions. Bias may be characterized as Bias Repeatability (variation over different cycles of the IMU) or Bias Stability (variation during a single operation of the IMU). The Bias Stability measurement tells you how stable the gyro output is over a certain period of time. Gyroscope Errors Bias Stabilityīias Stability (or Bias Instability) is defined as the drift the measurement has from its average value of the output rate. This is a brief explanation of these IMU accuracy errors and their definitions. The accuracy of these parameters is influenced by a number of errors which are a function of time. An Inertial Measurement Unit (IMU) combines linear accelerations from an accelerometer and rotations from a gyroscope to deliver navigation parameters and position update information.
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