Abstract: The invention discloses a calibration method for multiple IMU on multi-linkage system, the system comprising: a plurality of IMUs, wherein the plurality of IMUs is respectively arranged in a plurality of links of the multi-linkage system. Each of the IMUs further includes an accelerometer, a magnetometer, a gyroscope, and a calculation and compensation unit (CCU); the calibration method includes: CCU selecting the communication channel and initializing parameters; CCU selecting the communication channel and performing object vector information calculation, rotation compensation, and installation error compensation respectively; calculates the angle between each IMU and the position endpoints of each IMU; and outputting the compensated object vector information, the angle, and the endpoint positions.

Abstract: An object pose measurement system based on MEMS IMU includes: an accelerometer, a magnetometer, a gyroscope, an object vector information calculation unit, and a rotation compensation unit; wherein the object vector information calculation unit is connected respectively to the accelerometer, magnetometer, gyroscope to receive respective measurement data and calculate object vector information; the rotation compensation unit is connected to the object vector information calculation unit to receive the object vector information, compute and output rotation compensated object vector information; wherein the rotation compensation unit performs quaternion rotation compensation computation and outputs the rotation compensated quaternion as the rotation compensated object vector information.

Abstract: An object pose measurement system based on MEMS IMU includes: an accelerometer, a magnetometer, a gyroscope, an object vector information calculation unit, and a rotation compensation unit; wherein the object vector information calculation unit is connected respectively to the accelerometer, magnetometer, gyroscope to receive respective measurement data and calculate object vector information; the rotation compensation unit is connected to the object vector information calculation unit to receive the object vector information, compute and output rotation compensated object vector information; wherein the rotation compensation unit performs quaternion rotation compensation computation and outputs the rotation compensated quaternion as the rotation compensated object vector information.

Abstract: An object pose measurement system based on MEMS IMU is disclosed, comprising: an accelerometer, a magnetometer, a gyroscope, an object vector information calculation unit, and a rotation compensation unit; wherein the object vector information calculation unit connected respectively to the accelerometer, magnetometer, gyroscope to receive respective measurement data and calculating at least an object vector information; the rotation compensation unit connected to the object vector information calculation unit to receive the at least an object vector information, compute and output a rotated compensated object vector information; wherein the rotation compensation unit performing a quaternion rotation compensation computation and outputting the rotated compensated quaternion as a rotated compensated object vector information.

Abstract: An object pose measurement system based on MEMS IMU is disclosed, comprising: an accelerometer, a magnetometer, a gyroscope, an object vector information calculation unit, and a rotation compensation unit; wherein the object vector information calculation unit connected respectively to the accelerometer, magnetometer, gyroscope to receive respective measurement data and calculating at least an object vector information; the rotation compensation unit connected to the object vector information calculation unit to receive the at least an object vector information, compute and output a rotated compensated object vector information; wherein the rotation compensation unit performing a quaternion rotation compensation computation and outputting the rotated compensated quaternion as a rotated compensated object vector information.