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

fYear

2013

fDate

7-9 Sept. 2013

Firstpage

18

Lastpage

23

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Optoelectronics and Microelectronics (ICOM), 2013 International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4799-1214-8

Type

conf

DOI

10.1109/ICoOM.2013.6626481

Filename

6626481