Characterization of Accelerometers Using Nonlinear Kalman Filters and Position Feedback

In this paper, we describe a method to test and characterize accelerometers using an accurate position sensor and nonlinear Kalman filters. The method is designed to estimate parameters in nonlinear accelerometers and could be a simpler alternative to methods using centrifuges or vibrational testing. The method makes it possible to do real-time parameter estimation. In addition, the method can be integrated into an inertial tracking or navigation system with sufficiently accurate position measurements. The estimation filters have been implemented and successfully tested using Monte Carlo simulations. An experimental setup has been built, and its functionality has been verified.