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Calibration of a Redundant IMU

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Authors
Cho, Seong Yun; Park, Chan Gook
Issue Date
2004-08
Citation
AIAA Guidance, Navigation, and Control Conference and Exhibit, 16-19 August 2004, Providence, Rhode Island
Abstract
A calibration technique for a redundant IMU is proposed. The conventional orthogonal
IMU with three gyros and three accelerometers may cause the enormous navigation error
even if one sensor fault occurs. In order to overcome this problem, the redundant IMU is
constructed by configuring redundant sensors. The redundant IMU has a merit that it can
detect and isolate the faults. So far, the sensor configurations and FDI techniques have been
investigated. However, the research on the calibration of the redundant IMU has not been
carried out. In this paper, three coordinate frames in the redundant IMU are defined and
the IMU error is modeled based on the frames to establish a calibration procedure for the
redundant IMU. A technique for estimating the error coefficients of accelerometers and
gyros is proposed. And a test procedure of the 2-axis turntable for the cone configuration
IMU is presented. Finally, a redundant IMU with cone configuration is implemented and the
performance of the proposed technique is verified by some experiments.
Language
English
URI
http://hdl.handle.net/10371/26516
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Others_기계항공공학부
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