Research on measurement and modeling of micro-inertial-measurement unit

Jitao Teng; Yandong Wang; Xianfang Sun; Yuezu Fan

doi:10.1117/12.522150

2 September 2003 Research on measurement and modeling of micro-inertial-measurement unit

Jitao Teng, Yandong Wang, Xianfang Sun, Yuezu Fan

Proceedings Volume 5253, Fifth International Symposium on Instrumentation and Control Technology; (2003) https://doi.org/10.1117/12.522150
Event: Fifth International Symposium on Instrumentation and Control Technology, 2003, Beijing, China

Abstract

Rate calibration and six position calibration tests are discussed about a kind of micro inertial measurement unit (MIMU). A simple mathematical model of micro gyroscope and accelerometer is designed, some model parameters such as bias, scale factor, cross-axis coupling factors etc are confirmed. The effect of the model compensation is checked by the real tests. The tests result shows that gyroscope drift error compensated is near 0.01 o/s, the accelerometer error is below 10^-3 g, the precision of MIMU is highly improved after error compensation, and the mathematical model is simple and the speed of calculation is also high.

Citation Download Citation

Jitao Teng, Yandong Wang, Xianfang Sun, and Yuezu Fan "Research on measurement and modeling of micro-inertial-measurement unit", Proc. SPIE 5253, Fifth International Symposium on Instrumentation and Control Technology, (2 September 2003); https://doi.org/10.1117/12.522150

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