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.

주제어

#Calibration   #cone configuration redundant IMU   #rate test   #multi-position test  

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참고문헌 (14)

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이 논문을 인용한 문헌 (1)

1. Cho, Seong Yun ; Enkhtur, Munkhzul ; Kim, Kyong-Ho 2013. "Modified UKF Considering Real-Time Implementation of the Multi-Rate INS/GPS Integrated Navigation System" 제어·로봇·시스템학회 논문지 = Journal of institute of control, robotics and systems, 19(2): 87~94  원문보기 상세보기