30 lines
729 B
Matlab
30 lines
729 B
Matlab
%% GYR Calibraiton
|
|
% example:
|
|
% input = [
|
|
% 65.2191 0.1712 0.4618
|
|
% -0.0901 71.9079 -0.0728
|
|
% -0.5425 -0.1436 71.7273
|
|
% -65.0873 -0.1008 -0.4814
|
|
% 0.1573 -71.9432 0.0436
|
|
% 0.6128 0.2009 -71.7076
|
|
% ];
|
|
%
|
|
% theory = [65.5618 0 0; 0 72.0649 0; 0 0 72.1298 ; -65.5081 0 0; 0 -72.1298 0; 0 0 -72.0649];
|
|
% gyr_calibration(input, theory)
|
|
function [C, B] = gyr_calibration(input, ref)
|
|
|
|
%% ST mehold AN4508 Application note Parameters and calibration of a low-g 3-axis accelerometer
|
|
A= [input -[ones(length(input), 1)]];
|
|
B = ref;
|
|
|
|
X = inv(A'*A) * A'*B;
|
|
C = X(1:3,:)';
|
|
B = X(4,:)';
|
|
|
|
|
|
%% Time- and Computation-Efficient Calibration of MEMS 3D Accelerometers and Gyroscopes
|
|
% TBD
|
|
|
|
end
|
|
|