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2017•International Journal of Sensors Wireless Communications and ControlRequires access

Spatial Calibration for the Inertial Measurement Unit

Vadym Avrutov

Open publisher page 4 citations

Abstract

Background: A new calibration method for Inertial Measurement Unit (IMU) of Strapdown Inertial Navigation Systems was presented. IMU consists of inertial sensors like accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. In fact, it suggests turning over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. For convenient or mechanical gyroscopes with g – and g2 – drifts, it is proposed as a way of problem solving. Keywords: Inertial Measurement Unit, accelerometers, gyroscopes, calibration, output signals, matrix equation.

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What this paper is about

Background: A new calibration method for Inertial Measurement Unit (IMU) of Strapdown Inertial Navigation Systems was presented. IMU consists of inertial sensors like accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. In fact, it suggests turning over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. For convenient or mechanical gyroscopes with g – and g2 – drifts, it is proposed as a way of problem solving. Keywords: Inertial Measurement Unit, accelerometers, gyroscopes, calibration, output signals, matrix equation.

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Available abstract

Background: A new calibration method for Inertial Measurement Unit (IMU) of Strapdown Inertial Navigation Systems was presented. IMU consists of inertial sensors like accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. In fact, it suggests turning over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. For convenient or mechanical gyroscopes with g – and g2 – drifts, it is proposed as a way of problem solving. Keywords: Inertial Measurement Unit, accelerometers, gyroscopes, calibration, output signals, matrix equation.

Key concepts: Inertial measurement unit, Gyroscope, Accelerometer, Inertial reference unit, Calibration, Inertial navigation system, Units of measurement, Inertial frame of reference

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