Calibration of Inertial Measurement Units Using Pendulum Motion by Extended Kalman Filter

摘要：

MEMS gyros andaccelerometers used in lowlevel IMU have great potential in terms of cost effectiveness provided that their error characteristics are fully calibrated. Instead of conventional calibration process by using the rate table, this paper uses pendulum based calibration. The natural motion of pendulum where the IMU to be calibrated is attached, gaining the reference calibration data by highly accurate measurement unit in pendulum. Using the Extended Kalman Filter with nonlinear pendulum motion data, the pendulum and calibration parameters are estimated. The Whole process is validated by comparing the measurement from IMU units with the ones reconstructed using the calibration data estimated by Extended Kalman Filter.

关键词： Inertial Measurement Unit (IMU) Calibration Pendulum MEMS Extended Kalman Filter

作者: Lee Kyoungho Jang Seah Lee Hyetan Choi Keeyoung

作者单位: Department of Aerospace Engineering, Inha University, Incheon, KOREA, 402-751

会议类型: 国际会议

会议名称: 2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)

会议地点: 西安

会议语种:英文

页码: 660-663

在线出版日期: 2010-09-01（万方平台首次上网日期，不代表论文的发表时间）