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AN4508

Least square method

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Appendix A

Least square method

Let's consider accelerometer calibration at the 6 stationary positions shown in Table 1.

Equation 1 can be rewritten as:

Equation 3

Or

Equation 4

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,



Equation 5

where:



Equation 6



Equation 7