Sensor Information Processing for Calibration of Inertial Measurement Units

被引：0
|
作者：
Filatov, Yu. V. [1 ]
Boronakhin, A. M. [1 ]
Dao, V. B. [1 ]
Le, V. T. [1 ]
机构：
[1] St Petersburg Electrotech Univ, Dept Laser Measurement & Nav Syst, St Petersburg, Russia
来源：
2014 INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING, AUTOMATION AND CONTROL SYSTEMS (MEACS) | 2014年
关键词：
inertial navigation; error model; micromechanical gyro; small-size two-axis test bed;
D O I：
10.1109/meacs.2014.6986924
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
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页数：4
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