Scribd Logo
Upload

Welcome to Scribd!

  • 451 views

    Calibration of Sensors

    Uploaded by

    Subhrajit Moharana
    1) The document describes calibration techniques for sensors using Arduino codes to improve accuracy. It calibrates an accelerometer, ultrasonic sensor, and temperature sensor. 2) For the accelerometer, it uses a Kalman filter algorithm to reduce non-linearity. For the ultrasonic sensor, it uses a one-point calibration technique to correct offset errors. For the non-linear temperature sensor, it uses multi-point curve fitting. 3) The experiments show the calibration techniques improve sensor performance. The accelerometer provides more accurate readings. The ultrasonic sensor readings are accurate throughout its range. The temperature sensor outputs a better estimate of actual values.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Calibration of Sensors

    Uploaded by

    Subhrajit Moharana
    451 views5 pages
    1) The document describes calibration techniques for sensors using Arduino codes to improve accuracy. It calibrates an accelerometer, ultrasonic sensor, and temperature sensor. 2) For the accelerometer, it uses a Kalman filter algorithm to reduce non-linearity. For the ultrasonic sensor, it uses a one-point calibration technique to correct offset errors. For the non-linear temperature sensor, it uses multi-point curve fitting. 3) The experiments show the calibration techniques improve sensor performance. The accelerometer provides more accurate readings. The ultrasonic sensor readings are accurate throughout its range. The temperature sensor outputs a better estimate of actual values.

    Original Description:

    A Measuring Device for temperature,humidity and distance from any object

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    1) The document describes calibration techniques for sensors using Arduino codes to improve accuracy. It calibrates an accelerometer, ultrasonic sensor, and temperature sensor. 2) For the accelerometer, it uses a Kalman filter algorithm to reduce non-linearity. For the ultrasonic sensor, it uses a one-point calibration technique to correct offset errors. For the non-linear temperature sensor, it uses multi-point curve fitting. 3) The experiments show the calibration techniques improve sensor performance. The accelerometer provides more accurate readings. The ultrasonic sensor readings are accurate throughout its range. The temperature sensor outputs a better estimate of actual values.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    451 views5 pages

    Calibration of Sensors

    Uploaded by

    Subhrajit Moharana
    1) The document describes calibration techniques for sensors using Arduino codes to improve accuracy. It calibrates an accelerometer, ultrasonic sensor, and temperature sensor. 2) For the accelerometer, it uses a Kalman filter algorithm to reduce non-linearity. For the ultrasonic sensor, it uses a one-point calibration technique to correct offset errors. For the non-linear temperature sensor, it uses multi-point curve fitting. 3) The experiments show the calibration techniques improve sensor performance. The accelerometer provides more accurate readings. The ultrasonic sensor readings are accurate throughout its range. The temperature sensor outputs a better estimate of actual values.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 5

    1

    Calibration Of Sensors Using Arduino


    S.Choudhury, S.Kisku, S.Majhi, S.Moharana, A.Raj, S.Sharma , V.Kumar, S.Das

    AbstractIn this paper we present an efficient calibration


    technique for low cost sensors based on Arduino codes to
    reduce the marginal and any arbitrary errors in sensors due
    to environmental effects and designing defects. Calibration is
    process of finding a relationship between two unknown (when
    the measurable quantities are not given a particular value for
    the amount considered or found comparing with a standard for
    the quantity) quantities. The different sensors were combined
    and set up on a single Arduino board to improve accuracy and
    sensor output. The project consisted of three important sensorsTemperature, Accelerometer and Ultrasonic sensor. Temperature
    Sensor features a temperature complex with a calibrated digital
    signal output. Accelerometer is used as a baseline to discern
    orientation with respect to a given frame of reference. Ultrasonic
    sensor uses a technique similar to that of SONAR to determine
    distance of an object from a transmitted signal. The ultrasonic
    sensor was calibrated using multi-point curve fitting technique
    after the necessary observations were taken from an experiment
    using Arduino codes for the sensor. Open source kalman filter
    code was used for calibration of accelerometer, multiple point
    curve fitting algorithm was used for calibration of temperature
    sensor and one-point calibration technique was used for calibration of ultrasonic sensor. (Abstract)

    and subject to variability as well,Temperature measurements


    are subject to thermal gradients between the sensor and the
    measurement point,Light and color sensors can be affected
    by spectral distribution, ambient light, specular reflections and
    other optical phenomena and inertial sensors are sensitive to
    alignment with the system being measured.
    The two most important characteristics of a good sensors
    are precision-the ability to produce the same output for the
    same input and resolution-the ability to to reliably detect small
    changes in the measured parameter.
    In this paper we wil carry out the calibration of
    three sensors namely accelerometer-MPU-6050,ultrasonic-HCSRO4,temperature sensor-LM-35.
    II.

    BLOCK DIAGRAM

    Keywordscalibration,ultrasonic,accelerometer,kalman,curve,fitting.

    I.

    INTRODUCTION

    Calibration is a set of operations that under certain conditions establish relations between values indicated by a
    measuring instrument or system, or values represented by a
    materialised measure or reference material, and values realised
    by measurement standards.
    There are a lot of good sensors available and many are good
    enough out of the box for many non-critical applications.
    But in order to achieve the best possible accuracy, a sensor
    should be calibrated in the system where it will be used. This
    is because:
    1) No sensor is perfect since sample to sample manufacturing variations means that even two sensors from the same manufacturer production run may yield slightly different readings
    ,Differences in sensor design mean two different sensors may
    respond differently in similar conditions. This is especially true
    of indirect sensors that calculate a measurement based on one
    or more actual measurements of some different, but related
    parameters,Sensors subject to heat, cold, shock, humidity etc.
    during storage, shipment and/or assembly may show some
    variations in response and some sensor technologies age and
    their response naturally changes over time - requiring periodic
    re-calibration
    2) The Sensor is only one component in the measurement
    system,and the reading vary with different variables like in an
    analog sensors, the ADC is part of the measurement system

    Fig. 1. Block diagram


    III.

    CIRCUIT DIAGRAM

    Fig. 2. Circuit Diagram

    JOURNAL OF CALIBATION OF SENSORS USING ARDUINO, November 2015


    IV. BASIC CONCEPTS OF CALIBRATION
    The first thing to decide is what the calibration reference
    would be like.
    1.Standard References
    If it is important to get accurate readings in some standard
    units, a Standard Reference is needed to calibrate using it as
    a reference. This can be:
    A calibrated sensor - If a sensor or instrument that is
    known to be accurate, it can be used to make reference
    readings for comparison. Most laboratories have instruments
    that have been calibrated against NIST standards. These will
    have documentation including the specific reference against
    which they were calibrated, as well as any correction factors
    that need to be applied to the output.
    A standard physical reference - Reasonably accurate physical standards can be used as standard references for some types
    of sensors like rulers,rangefinders,boiling water,ice water,value
    of g.
    2.The Characteristic Curve
    Each sensor will have a characteristic curve that defines
    the sensors response to an input. The calibration process maps
    the sensors response to an ideal linear response. How to best
    accomplish that depends on the nature of the characteristic
    curve.

    FLOWCHART

    V. CALIBRATION PROCEDURE
    we will be analysing three calibration techniques one each
    for the three sensors used
    1.Kalman Filter
    KALMAN FILTER is the one of best techniques for
    calibration. The calibration of accelerometer MPU6050 is done
    by KALMAN filtering algorithm. The raw readings of input
    variable i.e the orientation of the sensor and the output of
    the sensor give the basic variables to be used in the next
    calibration technique i.e the KALMAN process which reduces
    the non-linearity of sensor. This is the basic aim of the product
    to show proper values of different parameters that are to be
    measured.[1]
    Initially the bias is zero hence; the error covariance matrix
    is taken as a null matrix. The covariance noise in observance
    is calculated from the observed readings of the sensor without
    the filter and the observer and the process noise variance
    is assumed to be zero. The variable B is also set to zero
    as no controlling input is present to change the upcoming
    readings. The variable H is set to 1 as the output reading
    is observed. Now as per KALMAN process defined in the
    flow chart the error covariance matrix and the Kalman gain
    is continuously updated with time the sensor starts to give
    continuous readings with an interval which is defined in the
    code. The new readings of the sensor after Kalman filtering
    are almost equal to the real time readings. [5][6][8][9]

    Department of Electronics and Communication,NIT Rourkela

    JOURNAL OF CALIBATION OF SENSORS USING ARDUINO, November 2015

    Fig. 3. kalman filter flowchart

    Fig. 5. One point calibration flowchart

    2.One Point Calibration


    One-point calibration is the simplest type of calibration.
    If the sensor output is already scaled to useful measurement
    units, a one-point calibration can be used to correct the sensor
    offset errors when only one measurement point is needed or
    the sensor is known to be linear and has the correct slope
    over a desired measurement range.This process can be used
    for calibration of Ultrasonic sensor HC-SR04.[2]-[4]

    3.Multi-Point Curve Fitting


    Sensors that are not linear over the measurement range
    require some curve-fitting to achieve accurate measurements
    over the measurement range. A common case requiring
    curve-fitting is thermocouples at extremely hot or cold temperatures. While nearly linear over a fairly wide range,
    they do deviate significantly at extreme temperatures. The
    graphs below show the characteristic curves of high, intermediate and low temperature sensors. This process can
    be used for calibration of Temperature Sensor LM-35.[7]

    Fig. 6. Applicability conditions of Multi point curve fitting


    Fig. 4. Applicability conditions of One point calibration
    FLOWCHART

    Fig. 7. Multi point calibration flowchart


    Department of Electronics and Communication,NIT Rourkela

    JOURNAL OF CALIBATION OF SENSORS USING ARDUINO, November 2015


    VI.

    EXPERIMENTAL RESULTS

    The three algorithms were implemented using ARDUINO


    codes for calibration of Accelerometer MPU6050,ultrasonic
    sensor HC-SR04,temperature sensor LM-35. The performance
    of the sensors has been clearlyimproved as can be clearly seen
    from the following graphs

    Fig. 10. LM-35 characteristics plot

    Fig. 8. accelerometer calibration plot


    It can be clearly noted that the kalman filter provides stability
    to the accelerometer and in case of sudden position or coordinate changes,the accelerometer provides accurate readings.

    LM-35 temperature sensor shoes non-linear characteristics,hence one point calibration cannot be used for calibration
    and hence multi point curve fitting has been used,after calculation of regression coefficient for each data entry the calibrated
    sensor output is the product of non-calibrated output and the
    regression coefiicient at that data entry.The calibrated value
    provide a better estimate of the actual value than that of the
    non-calibrated value.

    Fig.
    9. HC-SR04 characteristics plot
    As the distance of the target increases the readings of the
    ultrasonic sensor tends to drift from the actual values.This
    drifting of values can be neutralised using an offset which
    is introduced using the one point calibration method.The
    calibrated readings are accurate and sufficiently close to the
    actual readings through out the measurement range .

    Fig. 11. Final product

    Department of Electronics and Communication,NIT Rourkela

    JOURNAL OF CALIBATION OF SENSORS USING ARDUINO, November 2015


    [5]

    [6]

    [7]

    [8]

    [9]

    [5] E. Renk, M. Rizzo, W. Collins, F. Lee, and D. Bernstein, Calibrating


    a triaxial accelerometer-magnetometer-using robotic actuation for sensor
    reorientation during data collection, IEEE Control Syst. Mag., vol. 25,
    no. 6, pp. 8695,
    [6] P. Batista, C. Silvestre, P. Oliveira, and B. Cardeira, Accelerometer
    calibration and dynamic bias and gravity estimation: Analysis, design,
    and experimental evaluation, IEEE Trans. Control Syst. Technol., vol.
    19, no. 5, pp. 11281137, Sep. 2011.
    [7] H. Kuga, R. da Fonseca Lopes, and W. Einwoegerer, Experimental
    static calibration of an IMU (inertial measurement unit) based on
    MEMS, in Proc. XIX COBEM, Braslia, DF, Brazil, 2007.
    [8] J. Ambadan and Y. Tang, Sigma-point Kalman filter data assimilation
    methods for strongly nonlinear systems, J. Atmos. Sci., vol. 66, no. 2,
    pp. 261285, Feb. 2009.
    [9] S. Won and F. Golnaraghi, A triaxial accelerometer calibration
    method using a mathematical model, IEEE Trans. Instrum. Meas., vol.
    59, no. 8,pp. 21442153, Aug. 2010.

    Fig. 12. Product in Working state


    VII.

    CONCLUSION

    Three calibration techniques based on the use of a Arduino


    microcontroller has been presented.Use of each of the above
    calibration techniques has been presented by calibrating accelerometers,ultrasonic sensors,temperature sensors.Significant
    improvement was noticed in the sensor readings after calibration and the sensors are now ready for any further use.
    ACKNOWLEDGMENT
    WE would like to thank the Department of Electronics and
    Communication, NIT Rourkela as a whole for providing us
    every possible help and for providing insights and guidance
    on complete topic. We are also thankful to Department of
    Mechanical Engineer for allowing us to use the Themal
    laboratary for experimentation. We are also greatly thankful
    that the curriculum has included this lab which helped us get
    a practical insight and develop innovative ideas.
    R EFERENCES
    [1]

    [2]

    [3]

    [4]

    [1] Tadej Beravs, Janez Podobnik, and Marko Munih, Member, IEEE
    Three-Axial Accelerometer Calibration Using Kalman Filter Covariance
    Matrix for Online Estimation of Optimal Sensor Orientation IEEE
    TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,
    VOL. 61, NO. 9, SEPTEMBER 2012
    [2] J. Wang, Y. Liu, and W. Fan, Design and calibration of a smart inertialmeasurement unit for autonomous helicopters using MEMS sensors,
    in Proc. IEEE Int. Conf. Mechatron. Autom., 2006, pp. 956961.
    [3] R. Zhu and Z. Zhou, Calibration of three-dimensional integrated
    sensors for improved system accuracy, Sens. Actuators A: Phys., vol.
    127, no. 2, pp. 340344, Mar. 2006.
    [4] A. Kim and M. Golnaraghi, Initial calibration of an inertial measurement unit using an optical position tracking system, in Proc. IEEE
    PLANS, 2004, pp. 96101.

    Department of Electronics and Communication,NIT Rourkela

    You might also like