Trajectory estimation for swing motion by IMU considering bias error in sensor frame.

Abstract

There is an issue that the accumulated errors in position by the integration of acceleration in the motion measurement using IMUs. In many cases, the accumulated errors are corrected by constraint of the initial and final states of the IMU position. However, the main physical cause of these errors is considered to be the accumulated drift due to sensor bias errors, which are usually given as bias errors in the absolute coordinate system. In this study, we developed and verified a data assimilation method to correct bias errors described in the sensor coordinate system that could not be corrected by calibration.