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19 May 2022 Efficient estimation method of inertial measurement unit's errors for high accurate orientation
Jun Yang
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Proceedings Volume 12250, International Symposium on Computer Applications and Information Systems (ISCAIS 2022); 122500Q (2022) https://doi.org/10.1117/12.2639641
Event: International Symposium on Computer Applications and Information Systems (ISCAIS2022), 2022, Shenzhen, China
Abstract
The errors of inertial measurement unite (IMU) mainly include gyroscope’s noise, the white Gaussian noise in gyroscope’s bias, accelerometer’s noise and the scale factor of external acceleration. In this paper, an efficient estimation method of these errors is proposed, which do not need turntable and benefits low computational complexity. First, mathematical models are given in order to estimate the values of gyroscope’s noise, the white Gaussian noise and accelerometer’s noise. Then, several values of the scale factor are obtained in real time by setting partial-differential equation of yaw’s error with respective to the scale factor to zero, and the value of scale factor is further set when orientation’s errors have the minimum value. Thus, the update of orientation could be realized only by optimizing the value of scale factor, and it is accurate as the affection of estimation errors of IMU’s errors on orientation’s accuracy could be offset each other. Experiment results of a body’s orientation with an IMU show pitch, roll and yaw deviate from reference values only by 0.006 °, 0.005 ° and 0.5 ° respectivity, which verify the feasibility of the efficient estimation method.
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Jun Yang "Efficient estimation method of inertial measurement unit's errors for high accurate orientation", Proc. SPIE 12250, International Symposium on Computer Applications and Information Systems (ISCAIS 2022), 122500Q (19 May 2022); https://doi.org/10.1117/12.2639641
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KEYWORDS
Error analysis
Mathematical modeling
Gyroscopes
Calibration
Filtering (signal processing)
Magnetometers
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