Affiliations: [a] Faculty of Science and Engineering, Waseda University,
Shinjuku-ku, Tokyo, Japan
Correspondence:
[*]
Corresponding author: Luca Bartolomeo, Faculty of Science and
Engineering, Waseda University 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan.
E-mail: contact@takanishi.mech.waseda.ac.jp
Abstract: In the last years there has been increasing interest on Inertial
Measurement Units (IMUs) in several fields, because they can provide a
measurement of the orientation, velocity, and acceleration at low cost with
high performance. The main reason of the low cost is the possibility to find
inertial sensors, as accelerometers, gyroscopes and magnetometers, based on
Micro-Electro-Mechanical Systems (MEMS) made by silicon, with further
advantages of small dimensions and mass production from the main semiconductor
suppliers. In this paper, we present the development of the ultra miniaturized
wireless IMU, WB-4 (Waseda Bioinstrumentation number 4), with a 3-axis
accelerometer, 3-axis gyroscope and 3-axis magnetometer. Additionally, we
illustrate, together with results, the algorithms used for the data filtering
and calibration, with particular emphasis on a new methodology for the online
calibration of the digital magnetometer.
Keywords: Inertial Measurement Unit, wireless, magnetic calibration
