Three-Axes Mems Calibration Using Kalman Filter and Delaunay Triangulation Algorithm

Abstract

MEMS-IMUs are widely used in research, industry, and commerce. A proper calibration technique must reduce their innate errors. In this study, a turntable-based IMU calibration approach was presented. Parameters such as the bias, lever arm, and scale factor, in addition to misalignment, are included in the general nonlinear model of the IMU output. Accelerometer error parameters were estimated using the transformed unscented Kalman filter (TUKF) with triangulation algorithm is suggested for calibrating inertial measurement unit (MPU6050) three-axes accelerometer. In contrast to the present methods, the suggested method uses the gravitational signal as a constant reference and necessitates no external equipment. The technique requires that the sensor be positioned in a rough orientation and that basic rotations be adopted. This technology also offers a quicker and easier calibration. Comparing the experimental findings with other works, Allan deviation shows significant improvements for the bias instability, where a bias instability of (0.116 μg) is achieved at temperatures between (−15°C) and (80°C).