Fast and high-accuracy systematic calibration of inertial devices based on IMU off-axis transposition

Jisong Miao; Chen Wang; Yuan Ren; Xiaocen Chen; Qiongling Shao

doi:10.1117/12.2505171

31 August 2018 Fast and high-accuracy systematic calibration of inertial devices based on IMU off-axis transposition

Jisong Miao, Chen Wang, Yuan Ren, Xiaocen Chen, Qiongling Shao

Proceedings Volume 10835, Global Intelligence Industry Conference (GIIC 2018); 108351F (2018) https://doi.org/10.1117/12.2505171
Event: Global Intelligent Industry Conference 2018, 2018, Beijing, China

Abstract

In the traditional systematic calibration of inertial devices, the calibration path is designed by the reclosing of the IMU sensitive axis and the turntable rotation axis. The rotation axis is 1 times per rotation, and only 2 sensitive axis positions are changed. In order to effectively motivate the error items of inertial devices, an IMU off-axis installation structure is designed. The rotation axis of the turntable is 1 times per rotation, and 3 sensitive axis positions can be changed at the same time. On this basis, a systematic calibration scheme for inertial devices based on IMU off-axis transposition is designed. A 30 dimensional system errors model including 24 error terms, such as gyro and accelerometer constant errors, installation errors and scale factor errors, is set up. The observability of each state in each calibration path is analyzed by piece-wise constant system (PWCS) and singular value decomposition (SVD) method. Compared with the traditional classical systematic calibration scheme, the proposed scheme can not only realize the full dimensional observation of the state, but also the observability of each state is higher on the whole than that of the traditional scheme. In the process of using filter to calibrate inertial devices, the calibration time is shorter and the precision is higher, and the number of turntable axes required for the proposed scheme is changed from three axis to double axis, which reduces the requirements for hardware conditions.

Citation Download Citation

Jisong Miao, Chen Wang, Yuan Ren, Xiaocen Chen, and Qiongling Shao "Fast and high-accuracy systematic calibration of inertial devices based on IMU off-axis transposition", Proc. SPIE 10835, Global Intelligence Industry Conference (GIIC 2018), 108351F (31 August 2018); https://doi.org/10.1117/12.2505171

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KEYWORDS

Calibration

Error analysis

Gyroscopes

Navigation systems

Silver

Systems modeling

Aerospace engineering

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