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Sensors 2018, 18(4), 1178; https://doi.org/10.3390/s18041178

Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base

Engineering Research Center for Navigation Technology, Department of Precision Instruments, Tsinghua University, Beijing 100084, China
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Received: 6 March 2018 / Revised: 9 April 2018 / Accepted: 10 April 2018 / Published: 12 April 2018
(This article belongs to the Section Physical Sensors)
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Abstract

The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS IMUs remains a challenge for researchers. MEMS IMUs have been conventionally aligned on a static base, requiring other sensors, such as magnetometers or satellites, to provide auxiliary information, which limits its application range to some extent. Therefore, improving the alignment accuracy of MEMS IMU as much as possible under swing conditions is of considerable value. This paper proposes an alignment method based on the rotation modulation technique (RMT), which is completely self-aligned, unlike the existing alignment techniques. The effect of the inertial sensor errors is mitigated by rotating the IMU. Then, inertial frame-based alignment using the rotation modulation technique (RMT-IFBA) achieved coarse alignment on the swing base. The strong tracking filter (STF) further improved the alignment accuracy. The performance of the proposed method was validated with a physical experiment, and the results of the alignment showed that the standard deviations of pitch, roll, and heading angle were 0.0140 ° , 0.0097 ° , and 0.91 ° , respectively, which verified the practicality and efficacy of the proposed method for the self-alignment of the MEMS IMU on a swing base. View Full-Text
Keywords: MEMS IMU; rotation modulation technique; swing base; inertial frame-based alignment; strong tracking filter MEMS IMU; rotation modulation technique; swing base; inertial frame-based alignment; strong tracking filter
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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).
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Xing, H.; Chen, Z.; Yang, H.; Wang, C.; Lin, Z.; Guo, M. Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base. Sensors 2018, 18, 1178.

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