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Toward calibration of low-precision MEMS IMU using a nonlinear model and TUKF

Ghanipoor, F ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1109/JSEN.2019.2963538
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2020
  4. Abstract:
  5. 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. © 2020 IEEE
  6. Keywords:
  7. IMU calibration ; Level arm effect ; Misalignment error ; Scale factor error ; Accelerometers ; Alignment ; Calibration ; Errors ; Gyroscopes ; Least squares approximations ; Nonlinear systems ; Augmented state space ; Bias error ; Level arm effects ; Misalignment errors ; Scale factor errors ; TUKF ; Parameter estimation
  8. Source: IEEE Sensors Journal ; Volume 20, Issue 8 , 2020 , Pages 4131-4138
  9. URL: https://ieeexplore.ieee.org/abstract/document/8947938