{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T18:16:56Z","timestamp":1775326616297,"version":"3.50.1"},"reference-count":22,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2020,9,22]],"date-time":"2020-09-22T00:00:00Z","timestamp":1600732800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a novel approach for hand-held low-cost MEMS (micro-electro-mechanical system) gyroscope in-self calibration. This method does not need the support of external high-precision equipment compared with traditional calibration scheme and can be accomplished by user hand rotation. In this approach, Kalman filter is designed to perform the calibration procedure and estimate gyroscope bias error, scale factor error and non-orthogonal error. The system observability is analyzed and the dynamic rotating conditions under which the sensor errors become observable are derived. The design principles of optimal calibration procedure are provided as well. Both simulated and practical experiments are carried out to test the validation of the proposed calibration algorithm. The achieved results demonstrate that the introduced approach can provide promising calibration scheme for the low-cost MEMS gyroscope.<\/jats:p>","DOI":"10.3390\/s20185430","type":"journal-article","created":{"date-parts":[[2020,9,22]],"date-time":"2020-09-22T09:40:56Z","timestamp":1600767656000},"page":"5430","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Novel MEMS Gyroscope In-Self Calibration Approach"],"prefix":"10.3390","volume":"20","author":[{"given":"Qifan","family":"Zhou","sequence":"first","affiliation":[{"name":"School of Transportation Science and Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guizhen","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Transportation Science and Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huazhi","family":"Li","sequence":"additional","affiliation":[{"name":"School of Transportation Science and Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Na","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Transportation Science and Engineering, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Titterton, D., and Weston, J. (2004). Strapdown Inertial Navigation Technology, The Institution of Engineering. [2nd ed.].","DOI":"10.1049\/PBRA017E"},{"key":"ref_2","unstructured":"Saab, S., and Gunnarsson, K.T. (1994, January 11\u201315). Automatic alignment and calibration of an inertial navigation system. Proceedings of the 1994 IEEE Position, Location and Navigation Symposium\u2014PLANS\u201994, Las Vegas, NV, USA."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1323","DOI":"10.1109\/7.259535","article-title":"Multiposition alignment of strapdown inertial navigation system","volume":"29","author":"Lee","year":"1993","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_4","unstructured":"Skog, I., and Peter, H. (2006, January 17\u201322). Calibration of a MEMS inertial measurement unit. Proceedings of the XVII IMEKO World Congress, Rio de Janeiro, Brazil."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"2675","DOI":"10.1109\/TIM.2014.2313434","article-title":"Vector-Aided In-Field Calibration Method for Low-End MEMS Gyros in Attitude and Heading Reference Systems","volume":"63","author":"Li","year":"2014","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"105204","DOI":"10.1088\/0957-0233\/21\/10\/105204","article-title":"An enhanced multi-position calibration method for consumer-grade inertial measurement units applied and tested","volume":"21","author":"Nieminen","year":"2010","journal-title":"Meas. Sci. Technol."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"15107","DOI":"10.1088\/0957-0233\/21\/1\/015107","article-title":"Improved multi-position calibration for inertial measurement units","volume":"21","author":"Zhang","year":"2009","journal-title":"Meas. Sci. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"85202","DOI":"10.1088\/0957-0233\/19\/8\/085202","article-title":"Methods for in-field user calibration of an inertial measurement unit without external equipment","volume":"19","author":"Fong","year":"2008","journal-title":"Meas. Sci. Technol."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"105104","DOI":"10.1088\/0957-0233\/23\/10\/105104","article-title":"Anin situhand calibration method using a pseudo-observation scheme for low-end inertial measurement units","volume":"23","author":"Li","year":"2012","journal-title":"Meas. Sci. Technol."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"4062","DOI":"10.1109\/JSEN.2015.2410756","article-title":"Autonomous Calibration of MEMS Gyros in Consumer Portable Devices","volume":"15","author":"Li","year":"2015","journal-title":"IEEE Sens. J."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Nadig, S., and Lal, A. (2018, January 11\u201315). In-situ calibration Of MEMS inertial sensors for long-term reliability. Proceedings of the 2018 IEEE International Reliability Physics Symposium (IRPS), Burlingame, CA, USA.","DOI":"10.1109\/IRPS.2018.8353567"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"7479","DOI":"10.1109\/JSEN.2017.2751572","article-title":"An Algorithm for the In-Field Calibration of a MEMS IMU","volume":"17","author":"Qureshi","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4131","DOI":"10.1109\/JSEN.2019.2963538","article-title":"Toward Calibration of Low-Precision MEMS IMU Using a Nonlinear Model and TUKF","volume":"20","author":"Ghanipoor","year":"2020","journal-title":"IEEE Sens. J."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"876","DOI":"10.1109\/JSEN.2019.2946016","article-title":"Temperature-Dependent Calibration of Triaxial Sensors: Algorithm, Prototype, and Some Results","volume":"20","year":"2020","journal-title":"IEEE Sens. J."},{"key":"ref_15","unstructured":"(2014). MPU-9255 Product Specification, InvenSense Inc."},{"key":"ref_16","unstructured":"(2013). MPU-9150 Product Specifitcation Revision 4.3, InvenSense Inc."},{"key":"ref_17","unstructured":"(2012). Six Degrees of Freedom Inertial Sensor ADI-16367, Analog Devices Inc."},{"key":"ref_18","unstructured":"(2009). Corssbow 440 Series User\u2019s Manual 1421, Crossbow Technology Inc."},{"key":"ref_19","unstructured":"Welch, G., and Bishop, G. (1997, September 17). Available online: http:\/\/citeseerx.ist.psu.edu\/viewdoc\/download?doi=10.1.1.336.5576&rep=rep1&type=pdf."},{"key":"ref_20","unstructured":"Maybeck, P.S. (1982). Stochastic Models, Estimation, and Control, Academic Press."},{"key":"ref_21","unstructured":"Shin, E.H., and El-Sheimy, N. (2002, January 20). Fachbeitr\u00e4ge. Available online: https:\/\/geodaesie.info\/zfv\/heftbeitrag\/1454."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Ham, F., and Brown, R. (1983). Observability, Eigenvalues, and Kalman Filtering. IEEE Trans. Aerosp. Electron. Syst., 269\u2013273.","DOI":"10.1109\/TAES.1983.309446"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/18\/5430\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:12:23Z","timestamp":1760177543000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/18\/5430"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,22]]},"references-count":22,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2020,9]]}},"alternative-id":["s20185430"],"URL":"https:\/\/doi.org\/10.3390\/s20185430","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,22]]}}}