Supplementary material for Internship lectures about MIMUs calibration procedures.
./do_show_something.m
Main script./data
Folder containing the trials for MIMU calibration./data/acc_triax.mat
Accelerometer tri-axes trial./data/gyr_static.mat
Gyroscope static trial (60 seconds)./data/mag_spheere.mat
Magnetometer sphere drawing trial
./functions
Folder containing all the routines required for sensors calibration./functions/accSolver.m
Core solver for the optimization problem aiming at estimating offset and cross-axis sensitivity for the three accelerometer axes./functions/get_acc_calib.m
Routine that allows to select the static windows in which each of the axes points towards the positive gravity direction./get_gyr_bias.m
Self-explanatory./get_mag_calib.m
Routine allowing magnetometer bias and scale factor computation from the sphere trial./get_static_acc_windows.m
Self-explanatory
Guido Mascia: mascia.guido@gmail.com