I am developing a GPS-Localizer using accelerometer and gyroscope sensor values. for more accuracy, i want to calculate sensor biases, so i already implemented the accelerometer calculation via matlab using an input vector $ a$ and it looks like this:
function [sigma_out, mean_out, bias_out] = aCalibration (a) sigma_out = std(a, 0, 2); mean_out = mean(a, 2); % The direction of the mean acceleraion is assumed to be the direction % of gravity (thus down). Any other component is considered bias. This % is by no means an acurate representation of the biases. bias_out = mean_out - mean_out / norm(mean_out) * 9.81;
For the Gyroscope i use an input vector $w$, so i calculate standard deviation and mean like this:
function [w_sigma, w_mean, w_bias] = wCalibration (w) % TODO: implement the sigma/mean/bias computation w_sigma = std(w,0,2); w_mean = mean(w,2) w_bias = [0; 0; 0];
How do i calculate the gyroscope bias $b_w$ now? i dont know i think i still need to consider some angular velocity constants but i dont know which ones.... :(
Thanks for the help!