Estimation and Compensation of G-Sensitivity in Low-Cost MEMS Inertial Sensors

This paper presents a unified method for estimating and compensating g-sensitivity in low-cost MEMS gyroscope sensors. To estimate g-sensitivity, we propose a six-point calibration method. With the estimated g-sensitivity, we perform linear compensation of the gyroscope's g-sensitivity with the assistance of an accelerometer, by introducing generalized gyroscope bias into the gyroscope calibration model. The proposed method for g-sensitivity estimation and compensation does not require kinematic or dynamic equations, nor parameter adjustments. We have implemented the proposed scheme on a series of low-cost MEMS inertial sensors. Experimental results have shown that the proposed g-sensitivity estimation and compensation scheme improves gyroscope bias calibration accuracy, leading to a reduction in both attitude and position errors. Furthermore, the experiments have validated the stability, robustness, and reproducibility of the scheme in estimating and compensating g-sensitivity.