Toward Calibration of Low-Precision MEMS IMU Using a Nonlinear Model and TUKF
Toward Calibration of Low-Precision MEMS IMU Using a Nonlinear Model and TUKF
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DOI：
10.1109/jsen.2019.2963538
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发表时间：
2020-04-15
影响因子：
4.3
通讯作者：
Salarieh, Hassan
中科院分区：
文献类型：
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作者：
Ghanipoor, Farhad;Hashemi, Mojtaba;Salarieh, Hassan
MEMS-IMU在各种研究以及工业和商业领域有着广泛的应用。在适当的校准程序中减小其固有误差至关重要。提出了一种基于转台的惯性测量单元（伊穆斯）标定方法。推导了惯性测量单元输出的一般非线性模型，包括偏差、比例因子、失调和杠杆臂的影响。利用变换无迹卡尔曼滤波器（TUKF）对陀螺仪和加速度计的误差参数进行估计。使用三轴转台来产生输入信号，从而应用校准机动。此外，假设传感器不放置在转台中心，使得角加速度成为影响误差参数估计的另一个变量。因此，一个合适的角加速度估计器设计利用角速度输出。实验结果表明，与基于最小二乘法的标定信号相比，该方法可使陀螺仪和加速度计的输出精度分别提高66%和63%。
MEMS-IMUs have an extensive application in multifarious studies, as well as industrial and commercial areas. It is crucial to diminish their intrinsic errors in a suitable calibration procedure. In this paper, a novel calibration procedure was proposed for Inertial Measurement Units (IMUs) on a turntable. A general nonlinear model of the IMU output including the effects of bias, scale factor, misalignment, and lever arm was derived. Transformed Unscented Kalman Filter (TUKF) was utilized to perform the estimation of error parameters for gyroscopes and accelerometers. The calibration maneuvers were applied using a tri-axis turntable to create input signals. In addition, assuming the sensors not placing in the center of the table makes angular acceleration become another variable which affects the estimation of the error parameters. Therefore, a suitable angular acceleration estimator was designed utilizing the angular velocity output. According to experimental results, applying the proposed method caused 66% and 63% increase in the accuracy of gyroscopes and accelerometers outputs, respectively, compared with the calibrated signals based on the least square method.