Next Article in Journal
An Ultrahigh Frequency Partial Discharge Signal De-Noising Method Based on a Generalized S-Transform and Module Time-Frequency Matrix
Next Article in Special Issue
On Inertial Body Tracking in the Presence of Model Calibration Errors
Previous Article in Journal
Smart Coat with a Fully-Embedded Textile Antenna for IoT Applications
Previous Article in Special Issue
An IMU Evaluation Method Using a Signal Grafting Scheme
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(6), 940; doi:10.3390/s16060940

Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units

1
School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China
2
Space Star Technology Co., Ltd., Beijing 100101, China
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 7 April 2016 / Revised: 26 May 2016 / Accepted: 15 June 2016 / Published: 22 June 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [3413 KB, uploaded 22 June 2016]   |  

Abstract

An inertial navigation system (INS) has been widely used in challenging GPS environments. With the rapid development of modern physics, an atomic gyroscope will come into use in the near future with a predicted accuracy of 5 × 10−6°/h or better. However, existing calibration methods and devices can not satisfy the accuracy requirements of future ultra-high accuracy inertial sensors. In this paper, an improved calibration model is established by introducing gyro g-sensitivity errors, accelerometer cross-coupling errors and lever arm errors. A systematic calibration method is proposed based on a 51-state Kalman filter and smoother. Simulation results show that the proposed calibration method can realize the estimation of all the parameters using a common dual-axis turntable. Laboratory and sailing tests prove that the position accuracy in a five-day inertial navigation can be improved about 8% by the proposed calibration method. The accuracy can be improved at least 20% when the position accuracy of the atomic gyro INS can reach a level of 0.1 nautical miles/5 d. Compared with the existing calibration methods, the proposed method, with more error sources and high order small error parameters calibrated for ultra-high accuracy inertial measurement units (IMUs) using common turntables, has a great application potential in future atomic gyro INSs. View Full-Text
Keywords: systematic calibration; ultrahigh-accuracy inertial measurement unit; error modelling; Kalman filter systematic calibration; ultrahigh-accuracy inertial measurement unit; error modelling; Kalman filter
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Cai, Q.; Yang, G.; Song, N.; Liu, Y. Systematic Calibration for Ultra-High Accuracy Inertial Measurement Units. Sensors 2016, 16, 940.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top