Expanded Calibration of the MEMS Inertial Sensors

Vadym Avrutov 1 Petro Aksonenko 1 Nadiya Bouraou 1 Henaff Patrick 2 Laurent Ciarletta 3
2 NEUROSYS - Analysis and modeling of neural systems by a system neuroscience approach
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
3 MADYNES - Management of dynamic networks and services
Inria Nancy - Grand Est, LORIA - NSS - Department of Networks, Systems and Services
Abstract : A new calibration method for Inertial Measurement Unit (IMU) of strapdown inertial technology was presented. IMU has been composed of MEMS accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are used for IMU calibration. The new cali- bration method is based on whole angle rotation or finite rotation. In fact it suggests to turn over IMU around three axes simultane- ously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. Normally MEMS gyroscopes have got g- and g2- drifts. It is proposed a way of finding such drifts. The results of simulated IMU data presented to demonstrate the performance of the new calibration method.
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Contributor : Laurent Ciarletta <>
Submitted on : Sunday, December 3, 2017 - 4:42:39 PM
Last modification on : Tuesday, February 5, 2019 - 2:46:01 PM



Vadym Avrutov, Petro Aksonenko, Nadiya Bouraou, Henaff Patrick, Laurent Ciarletta. Expanded Calibration of the MEMS Inertial Sensors. UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩. ⟨hal-01654275⟩



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