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 ```1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 ``` ``````# LV1b IMU Calibration Page Here's our best guess to the linear calibration constants for the LV1b IMU:

Sensor

Calibration Equation

X

g's = (raw ADC) / (0.624 V/g * (6.025 V / 5 V) * (4096 counts/5 V))

Y

g's = (raw ADC) / (0.624 V/g * (6.025 V / 5 V) * (4096 counts/5 V))

Z

g's = (raw ADC) / (0.038 V/g * (6.025 V / 5 V) * (4096 counts/5 V))

Q

g's = (raw ADC) / (0.038 V/g * (6.025 V / 5 V) * (4096 counts/5 V))

Roll

&amp;deg;/s = (raw ADC) / (5 * 1.1628)

Pitch

Same as roll?

Yaw

Same as roll?

- Note that the (6.025 V / 5V) is for the fact that we ran the ratiometric sensors at 6.025V, but the ADC was expecting them to be running at 5V - It's a 12bit ADC, thus 4096 counts over the single sided 5V supply ---- \*OLD OLD OLD:\* So, we built this IMU and it's cool... but what does it do? To find out, we did a calibration run on October 5, 2000 (prior to the 10/07/2000) launch. Although lacking in many ways, the analysis of the calibration data should be able to tell us: - Linear models of the linear accelerometers (X, Y, Z and "Q") - By fitting a line to three points of acceleration values (+1g, 0g, -1g). - Note that the X accelerometer data was corrupted. - Models of the rate gyroscopes (roll, pitch and yaw) - By fitting a line to two points of rotational values (0rad/s,?rad/s) Attached (see below) are the raw data and processed calibration data files. [[Static Data|ImuCalibrationLV1b/static-raw.tgz]] [[Spin Data|ImuCalibrationLV1b/spin-raw.tgz]]``````