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文章基本信息

  • 标题:A Calibration Technique for a Redundant IMU Containing Low-Grade Inertial Sensors
  • 本地全文:下载
  • 作者:Cho, Seong-Yun ; Park, Chan-Gook
  • 期刊名称:ETRI Journal
  • 印刷版ISSN:1225-6463
  • 电子版ISSN:2233-7326
  • 出版年度:2005
  • 卷号:27
  • 期号:4
  • 页码:418-418
  • 语种:English
  • 出版社:Electronics and Telecommunications Research Institute
  • 摘要:A calibration technique for a redundant inertial measurement unit (IMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using a 2-axis turntable is also presented. Finally, a redundant IMU with cone configuration is implemented using low-grade inertial sensors, and the performance of the proposed technique is verified experimentally.
  • 关键词:Calibration;cone configuration redundant IMU;rate test;multi-position test
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