Abstract
A ubiquitous sensor in embedded systems is the accelerometer, as it enables a range of applications. However, accelerometers experience nonlinearities in their outputs caused by error terms and axes misalignment. These errors are a major concern because, in applications such as navigations systems, they accumulate over time, degrading the position accuracy. Through a calibration procedure, the errors can be modeled and compensated. Many methods have been proposed; however, they require sophisticated equipment available only in laboratories, which makes them complex and expensive. In this article, a simple, practical, and low-cost calibration method is proposed. It uses a 3D printed polyhedron, benefiting from the popularisation and low-cost of 3D printing in the present day. Additionally, each polyhedron could hold as much as 14 sensors, which can be calibrated simultaneously. The method was performed with a low-cost sensor and it significantly reduced the root-mean-square error (RMSE) of the sensor output. The RMSE was compared with the reported in similar proposals, and our method resulted in higher performance. The proposal enables accelerometer calibration at low-cost, and anywhere and anytime, not only by experts in laboratories. Compensating the sensor's inherent errors thus increases the accuracy of its output.