Improved multi-position calibration for inertial measurement units
Improved multi-position calibration for inertial measurement units
复制标题
改进的惯性测量单元多位置校准
DOI：
10.1088/0957-0233/21/1/015107
复制
发表时间：
2010-01-01
影响因子：
2.4
通讯作者：
Hu, Xiaoping
中科院分区：
文献类型：
--
作者：
Zhang, Hongliang;Wu, Yuanxin;Hu, Xiaoping
对惯性测量单元（IMU）进行校准是为了估算系数，这些系数将惯性传感器的原始输出转换为有意义的关注量。基于加速度计和陀螺仪组测量输出的范数分别等于特定力和旋转速度输入的大小这一事实，提出了一种改进的多位置校准方法。具体而言，针对多位置校准解决了两个开放但重要的问题：（1）陀螺仪和加速度计三元组之间的三元组间失调校准；（2）最优校准方案设计。利用分别从陀螺仪和加速度计三元组得出的旋转轴方向测量值，设计了一种校准三元组间失调的新方法。通过使IMU测量范数对校准参数的敏感度最大化，我们提出了一种近似最优的校准方案。仿真和实际测试表明，改进的多位置方法优于传统的实验室校准方法，同时放宽了对精确方向控制的要求。
Calibration of inertial measurement units (IMU) is carried out to estimate the coefficients which transform the raw outputs of inertial sensors to meaningful quantities of interest. Based on the fact that the norms of the measured outputs of the accelerometer and gyroscope cluster are equal to the magnitudes of specific force and rotational velocity inputs, respectively, an improved multi-position calibration approach is proposed. Specifically, two open but important issues are addressed for the multi-position calibration: (1) calibration of inter-triad misalignment between the gyroscope and accelerometer triads and (2) the optimal calibration scheme design. A new approach to calibrate the inter-triad misalignment is devised using the rotational axis direction measurements separately derived from the gyroscope and accelerometer triads. By maximizing the sensitivity of the norm of the IMU measurement with respect to the calibration parameters, we propose an approximately optimal calibration scheme. Simulations and real tests show that the improved multi-position approach outperforms the traditional laboratory calibration method, meanwhile relaxing the requirement of precise orientation control.