Accelerometer Triad Calibration for Pole Tilt Compensation Using Variance Based Sensitivity Analysis

In Engineering Geodesy, most coordinate frames are aligned with the local vertical. For many measurement tasks, it is therefore necessary to manually (or arithmetically) align sensors or equipment with the local vertical, which is a common source of errors and it is very time consuming. Alternatively, accelerometer triads as part of inertial measurement units (IMUs) are used in several applications for horizon leveling. In this contribution we analyze and develop a method to use accelerometer triads for pole tilt compensation with total stations. Several triad sensor models are investigated and applied in a calibration routine using an industrial robot arm. Furthermore a calibration routine to determine the orientation of the IMU mounted on the pole is proposed. Using variance based sensitivity analysis we investigate the influence of different model parameters on leveling and pole tilt compensation. Based on this inference the developed calibration routines are adjusted. The final evaluation experiment shows an RMS of 2.4 mm for the tilt compensated measured ground point with tilts up to 50 gon.