I have no problem following the first two pages (14 & 15), but am confused at th
ID: 3027724 • Letter: I
Question
I have no problem following the first two pages (14 & 15), but am confused at the end of the second page. Is equation 20 the final equation version of equation 10? The process was supposed to provide a least squares formula, and I am not sure if equation 20 is just that.
Any clarification will be very helpfull.
Least square method AN3182 Appendix A Least square method Let's consider accelerome er calibration at the 6 stat ionary positions shown in Table 2. Equation 1 can be rewritten as: Equation 10 ACC ACC ACC I ACC s ACC ACC ACC Acc Accy ACC Equation 11 where: Matrix X is the 12 calibration parameters that need to be determined o Matrix w is sensor raw data LSBs collected at stationary positions o Matrix Y is the known normalized Earth gravity vector For example, At Z down pos on (P1 position IAxt A:. Az l-ro o 11. and assume that a down position, n1 sets of accelerometer raw data Ayh A and Az have been collected. Then, Equation 12 Y1 0 0 1 where Matrix Y1 has the same row of 10 11. Matrix W1 contains raw data in the format of LSBs. At ZD up position (P2 position), Az Ar Aril o 1, and assume that at b up position. n2 sets of accelerometer raw data Ax A and Az have been collected. The Equation 13 At Yb down position (P3 position Az Az A l 1 0, and assume that at Yb down position, n3 sets of accelerometer raw data Ax A and A have been collected Then, 14/18 Doc ID 17289 Aev 1Explanation / Answer
Solution :- Yes, Equation 20 is the final equation version of equation 10.
Equation 20 is the calibration parameter matrix X determined by the least square method.
It is the Final equation using the Least square method.
The least square method is used here to obtain the 6 accelerometer calibration parameters.