35 lines
726 B
Matlab
35 lines
726 B
Matlab
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%% ACC Calibraiton
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function [C, B] = acc_calibration(input)
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%% OPTION1: ST mehold AN4508 Application note Parameters and calibration of a low-g 3-axis accelerometer
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B = [1 0 0; 0 1 0; 0 0 1; -1 0 0; 0 -1 0; 0 0 -1];
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A= [input -[ones(length(input), 1)]];
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X = inv(A'*A) * A'*B;
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C = X(1:3,:)';
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B = X(4,:)';
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%% OPTION2: Time- and Computation-Efficient Calibration of MEMS 3D Accelerometers and Gyroscopes
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% Data: M x N M: sample set(6), N:acc X,Y,Z (3)
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% row1 = 1, 0, 0 case
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% row2 = 0, 1, 0 case
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% row3 = 0, 0, 1 case
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% row4 = -1, 0, 0 case
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% row5 = 0, -1, 0 case
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% row6 = 0, 0, -1 case
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% input = input';
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% Asp = input(:,1:3);
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% Asn = input(:,4:6);
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%
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% B = ((Asp + Asn)*[1 1 1]' / 6);
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% C = 2*(Asp - Asn)^(-1);
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end
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