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AN3182 датащи(PDF) 14 Page - STMicroelectronics

номер детали AN3182
подробное описание детали  This application note describes the methods and techniques for measuring
PDF  18 Pages
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производитель  STMICROELECTRONICS [STMicroelectronics]
домашняя страница  http://www.st.com
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AN3182 датащи(HTML) 14 Page - STMicroelectronics

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Least square method
AN3182
14/18
Doc ID 17289 Rev 1
Appendix A
Least square method
Let's consider accelerometer calibration at the 6 stationary positions shown in Table 2.
Equation 1
can be rewritten as:
Equation 10
Or
Equation 11
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 12
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 13
●
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,
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