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AN4508 Datasheet(PDF) 9 Page - STMicroelectronics |
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AN4508 Datasheet(HTML) 9 Page - STMicroelectronics |
9 / 13 page DocID026444 Rev 1 9/13 AN4508 Least square method 13 Appendix A Least square method Let's consider accelerometer calibration at the 6 stationary positions shown in Table 1. Equation 1 can be rewritten as: Equation 3 Or Equation 4 where: Matrix X is the 12 calibration parameters that need to be determined Matrix w is sensor raw data LSBs collected at 6 stationary positions Matrix Y is the known normalized Earth gravity vector For example, At Zb down position (P1 position), , and assume that at Zb down position, n1 sets of accelerometer raw data Ax, Ay and Az have been collected. Then, Equation 5 where: Matrix Y1 has the same row of [0 0 1]. Matrix w1 contains raw data in the format of LSBs. At Zb up position (P2 position), , and assume that at Zb up position, n2 sets of accelerometer raw data Ax, Ay and Az have been collected. Then, Equation 6 At Yb down position (P3 position), , and assume that at Yb down position, n3 sets of accelerometer raw data Ax, Ay and Az have been collected. Then, Equation 7 |
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