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Toward calibration of low-precision MEMS IMU using a nonlinear model and TUKF
, Article IEEE Sensors Journal ; Volume 20, Issue 8 , 2020 , Pages 4131-4138 ; Hashemi, M ; Salarieh, H ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2020
Abstract
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...