Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

Luca Bartolomeo*, Zhuohua Lin, Salvatore Sessa, Massimiliano Zecca, Hiroyuki Ishii, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)779-785
Number of pages7
JournalInternational Journal of Applied Electromagnetics and Mechanics
Issue number1-4
Publication statusPublished - 2012


  • Inertial Measurement Unit
  • magnetic calibration
  • wireless

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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