Open AccessResearch on practical calibration compensation method of MIMU
Author(s) -
Ruifeng Zhao,
Baiqing Hu,
Jiayu Tian,
Xu Jun Lv
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1550/3/032020
Subject(s) - compensation (psychology) , calibration , benchmark (surveying) , gyroscope , inertial measurement unit , accelerometer , scale factor (cosmology) , computer science , position (finance) , control theory (sociology) , inertial navigation system , process (computing) , observational error , inertial frame of reference , artificial intelligence , mathematics , engineering , physics , statistics , psychoanalysis , aerospace engineering , metric expansion of space , dark energy , operating system , psychology , control (management) , geodesy , cosmology , quantum mechanics , finance , economics , geography
The Micro-inertial measurement unit (MIMU) is affected by the processing, installation and environment during its working process, which will produce large errors, resulting in low measurement precision, therefore, error calibration compensation is necessary. In this paper, a practical calibration compensation method of MIMU based on the error model of gyroscope and accelerometer was studied. The practical method uses a three-axis multi-functional turntable, which can provide high-precision angular rate and spatial position benchmark, to design the angular rate and six-position calibration scheme, and computes twenty-four error parameters of the MIMU, including zero bias, scale factor and installation error coefficient. The analysis of the experimental result shows that the precision of MIMU after calibration compensation can be improved by 1-2 orders of magnitude, which proves the effectiveness of the calibration compensation method.