Title :
A Novel redundant inertial measurement unit and calibration algorithm
Author :
Kunpeng He ; Jitao Han ; Yuping Shao
Author_Institution :
Coll. of Autom., Harbin Enginee ring Univ., Harbin, China
Abstract :
A novel redundant inertial measurement unit (RIMU) based on non-redundant inertial measurement unit (NRIMU) as its basic unit is proposed. Low-cost, high-precision and high-reliability are features of the novel RIMU which is different from traditional RIMU based on single inertial sensors as its basic unit. Moreover, a novel stratified calibration algorithm is proposed for the RIMU, which calibrated transformation matrices after calibrating NRIMU. The simulation results show that the stratified calibration algorithm can be implemented on the RIMU, and the presented algorithm features high-precision and simple operation in the RIMU, and the proposed technique can be applied in engineering.
Keywords :
accelerometers; aircraft navigation; calibration; gyroscopes; inertial navigation; matrix algebra; NRIMU; RIMU; nonredundant inertial measurement unit; redundant inertial measurement unit; single inertial sensors; stratified calibration algorithm; transformation matrix calibration; Accelerometers; Angular velocity; Calibration; Computational modeling; Data models; Measurement units; Sensors; NRIMU; RIMU; stratified calibration;
Conference_Titel :
Optoelectronics and Microelectronics (ICOM), 2013 International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4799-1214-8
DOI :
10.1109/ICoOM.2013.6626481
