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.
Type de document :
Communication dans un congrès
UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. 〈http://ukrcon.ieee.org.ua/〉. 〈10.1109/UKRCON.2017.8100328〉
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https://hal.archives-ouvertes.fr/hal-01654275
Contributeur : Laurent Ciarletta <>
Soumis le : dimanche 3 décembre 2017 - 16:42:39
Dernière modification le : mercredi 18 juillet 2018 - 18:34:01

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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. 〈http://ukrcon.ieee.org.ua/〉. 〈10.1109/UKRCON.2017.8100328〉. 〈hal-01654275〉

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