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Calibration of Inertial Measurement Units Using Pendulum Motion

  • Published : 2010.09.15

Abstract

The utilization of micro-electro-mechanical system (MEMS) gyros and accelerometers in low-level inertial measurement unit (IMU) influences cost effectiveness in a positive way under the condition that device error characteristics are fully calibrated. The conventional calibration process utilizes a rate table; however, this paper proposes a new method for achieving reference calibration data from the natural motion of pendulum to which the IMU undergoing calibration is attached. This concept was validated with experimental data. The pendulum angle measurements correlate extremely well with the solutions acquired from the pendulum equation of motion. The calibration data were computed using the regression method. The whole process was validated by comparing the measurement from the 6 sensor components with the measurements reconstructed using the identified calibration data.

Keywords

Inertial measurement unit;Calibration;Pendulum;MEMS

References

  1. Joos, D. K. (1978). Determination and evaluation of strapdown-sensor-parameters from system-test-data. Symposium on Gyroscope Technology, Bochum, West Germany.
  2. Krogmann, U. (1978). Identification procedures for strapdown sensor parameters by laboratory testing. Symposium on Gyroscope Technology, Bochum, West Germany.
  3. Titterton, D. H., Weston, J. L., Institution of Electrical Engineers, and American Institute of Aeronautics and Astronautics. (2004). Strapdown Inertial Navigation Technology. 2nd ed. Stevenage: Institution of Electrical Engineers.

Cited by

  1. Development of a high-precision calibration method for inertial measurement unit vol.15, pp.3, 2014, https://doi.org/10.1007/s12541-014-0372-3