摘要：The authenticity of the readings of accelerometers and magnetometers is of great importance when using sensors in orientation systems. However, traditionally determined methods of calibration cannot always provide the necessary work and stability of indications. The method of calibration of MEMS accelerometers and magnetometers in the original setting of problems of identification of sensor parameters is considered in the article. The stochastic approach allows for the passage of a calibration from without an exact binding to a specific orientation of the accelerometer, since this does not require additional sensors to determine the angle of rotation. This allows us to use the algorithm for sensors, already fixed on the equipment. The experimental measurements were carried out using a three-axis MEMS sensor MPU-9265. The proposed method makes it possible to completely eliminate the displacement of zero, compensate for the non-unit scale of the axes, and also to determine the orientation of the sensitive axes of the magnetometer. The standard deviation of the experimental data from the reference cloud is less than 1%.
