A novel method of calibrating a MEMS inertial reference unit on a turntable under limited working conditions

Lu, Jiazhen; Liang, Shufang; Yang, Yanqiang

doi:10.1088/1361-6501/aa8219

Cited by 6 publications

(4 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The gyroscope north-seeking principle is to use a gyroscope to sense the components of the earth's rotational angular velocity and an accelerometer to measure the gyroscope axial error angle. Through solution seeking, the angle between the carrier's heading and the real north can be calculated [9]. The transformation process is illustrated in figure 1.…”

Section: Gyroscope North-seeking Principlementioning

confidence: 99%

“…In recent years, with the development of the MEMS gyroscope, the Earth's rotation angular velocity can be sensed by the MEMS gyroscope, but due to the error of the MEMS gyroscope scale factor, the MEMS gyroscope is rarely used in north-seeking [9,10]. In the test process of the MEMS gyroscope, the scale factor is one of the important test parameters.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on improving the north-seeking precision of MEMS gyroscope

Guo¹,

Ren²,

Zhang³

et al. 2022

Meas. Sci. Technol.

View full text Add to dashboard Cite

In order to improve the north-seeking precision of the micro-electro-mechanical (MEMS) gyroscope, it is necessary to measure the earth's rotation angular velocity accurately. The output precision of the MEMS gyroscope is affected by zero bias, installation error, scale factor error, etc. Aiming at the problem of the low output precision of the MEMS gyroscope, this paper mainly studies the test method of the MEMS gyroscope scale factor. In this study, the north-seeking principle of the MEMS gyroscope is analyzed, and the equivalent relationship between scale factor error and angular rate error is investigated. A Multi-Position ground velocity method is proposed for testing the scale factor of the MEMS gyroscope. In this method, the Earth's rotation angular velocity component is used as the input of the MEMS gyroscope, and the scale factor is calculated by dual exponential fitting. The feasibility of the test method is verified by experiments on the rate turntable. The experimental results show that when the input angular velocity is between -0.0036 °/s and 0.0036 °/s, compared with the traditional angular rate test method, the nonlinearity of the MEMS gyroscope scale factor tested by the proposed method is reduced from 227.45 ppm to 68.19 ppm, the asymmetry is reduced from 253.61 ppm to 73.65 ppm, and the north-seeking accuracy is improved 4.17 times, which verifies the effectiveness and superiority of the proposed method.

show abstract

Section: Gyroscope North-seeking Principlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on improving the north-seeking precision of MEMS gyroscope

Guo¹,

Ren²,

Zhang³

et al. 2022

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…The norm calibration technique has been widely used in the calibration of low-precision IMU [10], [11], [15]. The norm calibration method is based on the measurement output, and its norm value remains constant in the inertia space based on a certain value.…”

Section: Introductionmentioning

confidence: 99%

An Improve Hybrid Calibration Scheme for Strapdown Inertial Navigation System

2019

View full text Add to dashboard Cite

This paper develops an improved hybrid calibration scheme for the strapdown inertial navigation system (SINS) that combines the advantages of an optimal rotational norm calibration method and an improved system-level calibration method. To accurately determine the scale factors and misalignment error of gyros triad, the optimal rotation norm calibration method is applied. Similarly, the improved system-level calibration method based on the 24-dimensional error state Kalman filter (ESKF) plays an important role in accelerometer calibration and gyro biases calibration. The clockwise and counterclockwise multi-cycles rotation scheme is designed to eliminate the effects of the Earth's rate and gyros biases, and then provide accurate rotational norm to completely determine the gyros triad scale factors and misalignment. In addition, the improved ESKF system-level calibration method is employed to estimate accelerometer parameters and gyros biases. Simulation test verify the validity of the proposed method, and the calibration experiences and the verification tests of the two high-precision optical gyros inertial measurement units (IMU) are carried out. For comparison, the traditional 30-dimensional system-level calibration is also performed. The attitude error of high maneuvering swing test indicate that the gyros calibration accuracy of hybrid calibration scheme is better than that of traditional system-level calibration scheme. Furthermore, the positioning error of pure inertial navigation solution in static and dynamic condition for two calibration methods indicate that the hybrid calibration scheme significantly improves the positioning accuracy, especially in the dynamic experiment, that is, the proposed scheme provides a more accurate calibration of the IMU.

show abstract

“…Traditional calibration can be carried out in the lab by means of a high precision turntable (Lu et al, 2017). By comparing the outputs of the MIMUSs with the provided orientation and the rate excitations from the high precision turntable, the parameters in the calibration model can be obtained.…”

Section: Introductionmentioning

confidence: 99%

Network dynamic field calibration for micro inertial measurement unit

Yun

Zhihang

2018

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

Calibration accuracy of micro inertial measurement unit (MIMU) will affect the navigation accuracy of micro strap-down inertial navigation system. Generally, when the application environment changes (i.e. environment temperature and humidity), the specific force and angular rate output by MIMU will be changed, which were influenced by the zero bias of accelerometers, the zero drift of gyroscopes and so on. Thus, it is necessary to carry out the field calibration for MIMU. Aiming at the application of multi MIMUs, the network dynamic field calibration method is proposed in this paper. According to the navigation attitude and velocity error models, the estimating model is established. Then, the observability for the parameters in the estimating model is analyzed. By fusing the output information of MIMUs and GPS, vehicle experiments are carried out with the designed maneuvers in order to estimate the parameters. The experiment result illustrated that the proposed network dynamic filed calibration can efficiently realize the calibration for the parameters in the model of several MIMUs simultaneously.

show abstract

A novel method of calibrating a MEMS inertial reference unit on a turntable under limited working conditions

Cited by 6 publications

References 14 publications

Research on improving the north-seeking precision of MEMS gyroscope

Research on improving the north-seeking precision of MEMS gyroscope

An Improve Hybrid Calibration Scheme for Strapdown Inertial Navigation System

Network dynamic field calibration for micro inertial measurement unit

Contact Info

Product

Resources

About