An All-Parameter Calibration for 6-Axis Skewed IMU

Lu, Jiazhen; Ye, Lili; Niu, Zhaoxiang; Dong, Jing; Su, Ang

doi:10.1109/tie.2022.3169719

Cited by 8 publications

(1 citation statement)

References 22 publications

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“…Zero bias error leads to a non-zero output when the device is stationary. In navigation or attitude measurement, this can cause the system to experience baseline drift, gradually deviating from the true value even if the device is not moving [6].…”

Section: The Causes and Effects Of Device Errorsmentioning

confidence: 99%

Calibration method of strapdown inertial measurement unit based on two-axis turntable

Liu,

Gao,

Zhan

et al. 2024

J. Phys.: Conf. Ser.

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This paper analyzes the causes and effects of error in the Strapdown Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU), utilizing a sensor calibration method based on a two-axis turntable. By considering deterministic errors such as sensor bias, scale factor, and non-orthogonality of the sensitive axis, an error model was established to assess their impact on measurement accuracy. An expression was provided to represent the relationship between sensor data collection and external input stimuli, storing the error parameters of the accelerometer and the gyroscope separately in parameter matrices. The error parameter matrix between input and output quantities was fitted using the least squares method, and error compensation was completed in conjunction with the error model. By comparing the original data with the error-compensated data, the calibration results were obtained. This improved the consistency of the measurements from the sensitive axes to the stimulus source, reduced the zero bias error of each sensitive axis, and enhanced the positioning accuracy of the Strapdown MEMS-IMU.

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Section: The Causes and Effects Of Device Errorsmentioning

confidence: 99%

Calibration method of strapdown inertial measurement unit based on two-axis turntable

Liu,

Gao,

Zhan

et al. 2024

J. Phys.: Conf. Ser.

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A model-based and efficient parameters correction method for low-cost MEMS IMU

Xu,

et al. 2024

Meas. Sci. Technol.

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With the wide use of intelligent mobile terminals, inertial measurement unit (IMU) made by micro-electromechanical system (MEMS) has become an important part of their positioning systems. MEMS IMU has advantages of low cost, low power consumption and small size. However, the scale factor error, nonorthogonality error, and bias affect the measurement accuracy of MEMS IMU. In this paper, the output data of MEMS IMU at the six-position were analysed and modelled. A parameter correction method based on the model was proposed for obtaining more accurate scale factor, nonorthogonality parameters and bias. The proposed method has low-cost and the obtained parameters’ accuracy are consistency. Ten groups of two MEMS IMUs parameter correction experiments show that the parameters obtained by the proposed method have small fluctuation and high consistency. The navigation test shows that the navigation errors of the corrected data of one MEMS IMU reduce to 15.2 %, 9.3 % and 5.1 % in the east, north and up directions compared with the position errors of the original data, which proves the effectiveness of the proposed method.

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