Design and Calibration for a Smart Inertial Measurement Unit for Autonomous Helicopters Using MEMS Sensors

Author

Wang, Jiandong ; Liu, Yunhui ; Fan, Weihong

Author_Institution

The CUHK-NUDT Joint Center for Intelligent Sensing & Syst., Nat. Univ. of Defense Technol., Changsha

fYear

2006

fDate

25-28 June 2006

Firstpage

956

Lastpage

961

Abstract

In this paper, we present the design of 3D inertial measurement unit(IMU), which consists of 3D accelerometers, 3D gyroscopes and 3D magnetic sensors for automatic control of aerial robots. It has characteristics with very small size, low power consumption, high distinguishing ability and inexpensive. The novel automatic initial calibration of 3D accelerometers and 3D magnetic sensor, based on Newton´s method, is implemented. The experiments show the hardware design is in effect and the calibration can reduces the offset error, scaling error and non-orthogonal error efficiently

Keywords

Newton method; accelerometers; aerospace robotics; aircraft control; calibration; gyroscopes; helicopters; inertial navigation; intelligent sensors; magnetic sensors; microsensors; 3D accelerometers; 3D gyroscopes; 3D magnetic sensors; MEMS sensors; Newton method; aerial robots; automatic control; autonomous helicopters; calibration; error reduction; smart inertial measurement unit; Accelerometers; Automatic control; Calibration; Gyroscopes; Helicopters; Intelligent sensors; Magnetic sensors; Measurement units; Micromechanical devices; Sensor phenomena and characterization; Aerial Robots; Calibration; Distinguishing Ability; IMU; MEMS;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257754

Filename

4026214