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1、4062IEEESENSORSJOURNAL,VOL.15,NO.7,JULY2015AutonomousCalibrationofMEMSGyrosinConsumerPortableDevicesYouLi,StudentMember,IEEE,JacquesGeorgy,Member,IEEE,XiaojiNiu,QingliLi,andNaserEl-SheimyAbstract—Thispaperpresentsareal-timecalibrationTABLEImethodforgyrosenso
2、rsinconsumerportabledevices.ThePERFORMANCEOFTYPICALMEMSSENSORS[5]INSMARTPHONEScalibrationhappensautomaticallywithouttheneedforexternalequipmentoruserintervention.Multilevelconstraints,includingthepseudoobservations,theaccelerometerandmagnetometermeasurements
3、,andthequasi-staticattitudeupdates,areusedtomakethemethodreliableandaccurateundernaturalusermotions.WalkingtestswiththeSamsungGalaxyS3andS4smartphonesshowedthatthemethodprovidedpromisingcalibrationresultsevenunderchallengingmotionmodes,suchasdanglingandpocke
4、t,andinchallengingindoorenvironmentswithfrequentmagneticinterferences.sensorsareidealforprovidingcontinuousinformationforIndexTerms—MEMSsensors,IMU,smartphones,indoorindoor/outdoornavigation[3].navigation.However,low-costMEMSinertialsensorssufferfromsignifica
5、ntrun-to-runbiasesandthermaldrifts[4].TheI.INTRODUCTIONperformanceoftypicalMEMSsensorsthatusedinsmartphones[5]areshowninTable1.Althoughlabcalibra-DVANCESinMicro-Electro-MechanicalSys-tionatroomtemperatureisausefulwaytoremovemanyAtems(MEMS)technologycombinedw
6、iththedeterministicsensorerrors[6],thesensors’readingscanbeminiaturizationofelectronicshavemadeitpossibletoproduceverydifferentduetotherestartandthedifferencebetweenchip-basedsensors,suchasinertialsensors(i.e.,accelerome-theoperationalandcalibrationenvironme
7、nts.Also,itisnottersandgyroscopes(gyros))andmagnetometers.MEMSchipsaffordableforthechipmanufacturerstoconductthermalaresmallandlightweight,consumeverylittlepower,andcalibrationoflow-costsensors.Duetotheintegrationprocessareextremelylow-cost[1].Byvirtueofthes
8、eadvantages,intheinertialnavigationmechanization,anysensorerrorsMEMSsensorshavebecomeappropriatecandidatesforwillaccumulate,resultinginincreasingnavigationerrors.Formotiontrackingandnavigation(i
