期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
期号：2
页码：14
DOI：10.5772/57516
语种：English
出版社：SAGE Publications
摘要：An optimal calibration method for a micro-electro-mechanical inertial measurement unit (MIMU) is presented in this paper. The accuracy of the MIMU is highly dependent on calibration to remove the deterministic errors of systematic errors, which also contain random errors. The overlapping Allan variance is applied to characterize the types of random error terms in the measurements. The calibration model includes package misalignment error, sensor-to-sensor misalignment error and bias, and a scale factor is built. The new concept of a calibration method, which includes a calibration scheme and a calibration algorithm, is proposed. The calibration scheme is designed by D-optimal and the calibration algorithm is deduced by a Kalman filter. In addition, the thermal calibration is investigated, as the bias and scale factor varied with temperature. The simulations and real tests verify the effectiveness of the proposed calibration method and show that it is better than the traditional method.
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