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A Calibration Technique for a Redundant IMU Containing Low-Grade Inertial Sensors

Cited 33 time in Web of Science Cited 54 time in Scopus
Authors
Cho, Seong Yun; Park, Chan Gook
Issue Date
2005
Publisher
ETRI
Citation
ETRI Journal, vol. 27, no. 4, pp. 418-426
Keywords
Calibrationcone configuration redundant IMUrate testmulti-position test
Abstract
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.
ISSN
1225-6463
Language
English
URI
http://hdl.handle.net/10371/10147
DOI
https://doi.org/10.4218/etrij.05.0104.0191
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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