Calibration of the Norwegian motion laboratory using conformal geometric algebra

Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

“…To measure the tracking error, the output of the EKF filter is compared with the correct values obtained from the Motion Laboratory feedback sensors. The Motion Laboratory is previously calibrated using a high precision laser tracker to determine the calibration parameters [15]. The output of the EKF algorithm represents the position offset between the two ships given in coordinate {n 1 }.…”

The Norwegian Motion-Laboratory

“…CGA was also applied as a tool to calibrate the robotic equipment of the Motion-Lab in Heng and Tørdal (2017). Here a high precision Laser tracker was utilized to obtain positional data samples of the EM-8000, and the CGA approach was benchmarked against conventional methods.…”

“…The primary transformations are depicted in the overview, where the subscripts and superscripts refer to the focus frame and relative frame, respectively. The homogeneous transformations which remain constant during the motion simulations are obtainable through calibration as described in Heng and Tørdal (2017), which present an approach to calibrate the fixed transformations. The resulting calibration data describing the homogeneous calibration matrices are loaded into the MAT-LAB workspace by executing the following command load('motionlab/calib.mat'), where the calibration data is found in the loaded calib MATLAB structure.…”