Skip to main content
SpringerLink
Log in

Calibration of the Thermal Model of an Inertial Measurement Unit with Three Angular Rate Sensors

  • Published:
Gyroscopy and Navigation Aims and scope Submit manuscript

Abstract

The paper considers the techniques developed for calibration of an inertial measurement unit (IMU) containing three angular rate sensors (ARS). Calibration is performed on a two-axis calibration turntable with a thermal chamber. For instrumental errors of ARS measurements, a priori parametric model is introduced, which includes biases, scale factor errors, small angles of nonorthogonality of sensitivity axes, and coefficients of temperature dependence for all these measurement errors. The problem of determining parameters of the parametric model is reduced to the problem of optimal estimation of the linear dynamic system state vector. In this context, the measurement vector is the vector of a small rotation between the model orientation of the IMU (calculated from the ARS readings) and the model orientation of the turntable faceplate (calculated from the turntable measurements). The approach proposed for formalization of the calibration problem is a modification of the method for calibration of an IMU as a whole inseparable unit, using a single-axis turntable with the horizontal axis of rotation, previously developed in the Laboratory of Control and Navigation of Lomonosov Moscow State University. The calibration experiment consists in a sequence of horizontal rotations about each of the ARS sensitivity axes. The results of numerical simulation and covariance analysis are considered.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.

Similar content being viewed by others

REFERENCES

  1. Golovan, A.A. and Parusnikov, N.A., Matematicheskie osnovy navigatsionnykh system. Chast’ II. Prilozheniya metodov optimal’nogo otsenivaniya k zadacham navigatsii. (Mathematical Foundations of Navigation Systems. Part II. Applications of Optimal Estimation Methods to Navigation Problems), 2nd ed., Moscow: MAKS Press, 2012.

  2. Veremeenko, K.K. and Galai, I.A., Development of algorithms for calibration of inertial navigation systems on a biaxial test bench, Trudy MAI, 2013, no. 63.

  3. Dranitsyna, E.V., Egorov, D.A., Untilov, A.A., Deineka, G.B., Sharkov, I.A., and Deyneka I.G., Reducing the temperature variation effect on the output signal of a fiber-optic gyroscope, Giroskopiya i Navigatsiya, 2012, no. 4, pp. 10–20.

  4. Boronakhin, A.M., Ivanov, P.A., and Surov, I.L., Studying the errors of a triad of MEMS gyroscopes using a small biaxial test bench, Nano and mikrosistemnaya tekhnika, 2010, no. 1, pp. 35–41.

  5. Vavilova, N.B., Golovan, A.A., Parusnikov, N.A., and Vasineva, I.A., The problem of calibrating strapdown inertial navigation systems on precise test benches, XXIII Sankt-Peterburgskaya mezhd. konf. po integrirovannym navigatsionnym sistemam (23rd St. Petersburg Int. Conf. on Integrated Navigation Systems), St. Petersburg: Elektropribor, 2016, pp. 52–55.

  6. Diesel, John W., Calibration of a ring laser gyro inertial navigation system, Proc. 13th Biennial Guidance Test Symposium, 1987, vol. 1.

  7. Bergman, Z., Inertial Sensors — A New Approach for Low Cost Calibration and Testing,Inertial Sensors and Systems, 2011.

    Google Scholar 

  8. Syed, Z.F, Aggarwal, P., Goodall, C, Niu, X, and El-Sheimy, N., A new multi-position calibration method for MEMS inertial navigation systems. Measurement Science and Technology, 2007 May 15; 18(7):1897.

    Article  Google Scholar 

  9. Zhang, H., Wu, Y., Wu, W., Wu, M., and Hu, X., Improved multi-position calibration for inertial measurement units. Measurement Science and Technology, 2009, Nov 23; 21(1):015107.

    Article  Google Scholar 

  10. Kozlov, A.V., Tarygin, I.E., Golovan, A.A., Shaimardanov, I.Kh., and Dzuev A.A., Calibration of inertial measurement units with estimation of temperature dependencies based on the experiment with variable temperature: Results of SINS-RT calibration. XXIV Sankt-Peterburgskaya mezhd. konf. po integrirovannym navigatsionnym sistemam (24th St. Petersburg Int. Conf. on Integrated Navigation Systems), St. Petersburg: Elektropribor, 2017, pp. 225–228.

  11. Kozlov, A.V., Tarygin, I.E., and Golovan, A.A., Calibration of inertial measurement units using coarse test benches and estimation of temperature dependences based on the experiment with variable temperature, XXI Sankt-Peterburgskaya mezhd. konf. po integrirovannym navigatsionnym sistemam (21st St. Petersburg Int. Conf. on Integrated Navigation Systems), St. Petersburg: Elektropribor, 2014, pp. 319–322.

  12. Tang, Q., Wang, X., Yang, Q., and Liu, C., An improved scale factor calibration model of MEMS gyroscopes, 2014 IEEE Int.Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Montevideo, 2014, pp. 752–755.

  13. Parolis, D.M. and Pinter-Krainer, W., Current and future techniques for spacecraft thermal control, ESA Bulletin, no. 87, 1996.

  14. Gilmore, D., Spacecraft thermal control handbook,Volume I:Fundamental technologies. Calif. Aerospace Press, 2002.

    Google Scholar 

  15. Niu X., Li Y., Zhang H., Wang Q., Ban Y., Fast thermal calibration of low-grade inertial sensors and inertial measurement units. Sensors. 2013, Sep; 13(9):12192-217.

    Article  Google Scholar 

  16. Prikhodko, I.P., Zotov, S.A., Trusov, A.A., and Shkel, A.M., Thermal Calibration of Silicon MEMS Gyroscope, 8th International Conference and Exhibition on Device Packaging, 2012.

Download references

Author information

Authors and Affiliations

  1. Lomonosov Moscow State University, Laboratory of Control and Navigation, Moscow, Russia

    I. E. Tarygin

Authors
  1. I. E. Tarygin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to I. E. Tarygin.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Tarygin, I.E. Calibration of the Thermal Model of an Inertial Measurement Unit with Three Angular Rate Sensors. Gyroscopy Navig. 11, 25–33 (2020). https://doi.org/10.1134/S2075108720010125

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S2075108720010125

Keywords:

Search

Navigation