Title :
Sensor information processing for calibration of inertial measurement units
Author :
Filatov, Yu.V. ; Boronakhin, A.M. ; Dao, V.B. ; Le, V.T.
Author_Institution :
Dept. of Laser Meas. & Navig. Syst., St. Petersburg Electrotech. Univ., St. Petersburg, Russia
Abstract :
The report presents the mathematical models of errors, taking into account the influence of the magnetic field on the outputs of fiber optic gyro and the influence of linear acceleration on the outputs of MEMS-based gyro triad, and an algorithm that allows correcting these effects. The research has been performed with the use of two-axis test bed and the sensors of magnetic field and linear acceleration. In addition to standard procedure of IMU calibration, the integration of measuring module with angular sensors is proposed and testing and calibration process is supposed to execute on two-axis bed setting quasi-harmonic modulation of angular velocity along two axes. Such law of motion provides observability of all required parameters of mathematical models of output inertial devices.
Keywords :
acceleration measurement; angular velocity measurement; calibration; fibre optic gyroscopes; magnetic field measurement; magnetic sensors; mathematical analysis; measurement standards; microsensors; units (measurement); IMU calibration; MEMS-based gyro triad; angular sensor; angular velocity modulation; fiber optic gyro; inertial measurement unit; linear acceleration influence; magnetic field influence; mathematical model; output inertial device; quasiharmonic modulation; sensor information processing; two-axis test bed; Acceleration; Instruments; Optical fiber testing; error model; inertial navigation; micromechanical gyro; small-size two-axis test bed;
Conference_Titel :
Mechanical Engineering, Automation and Control Systems (MEACS), 2014 International Conference on
Conference_Location :
Tomsk
Print_ISBN :
978-1-4799-6220-4
DOI :
10.1109/MEACS.2014.6986924
