Advertisement

Development of a high-precision calibration method for inertial measurement unit

  • Moon-Sik KimEmail author
  • Si-Bok Yu
  • Kwang-Soo Lee
Review

Abstract

MEMS (Micro-Electromechanical Systems) based IMU (Inertial Measurement Unit) including accelerometers and gyroscopes is widely used for various applications such as INS (Inertial Navigation System), pose estimation devices and others for many industries such as toy, medical, automotive and military industry. But MEMS sensor chip originally has bias and sensitivity errors from manufacturing, and there is also axis misalignment when mounting a MEMS chip on IMU PCB layer. These error factors cause inaccuracy measurement results and non-linear measurement characteristics of IMU. In this paper, accelerometers and gyroscopes are mathematically modeled based on these error factors including bias, sensitivity, coning angle and azimuth angle. Calibration procedures for accelerometers and gyroscopes are formulated using nonlinear Gauss-Newton regression logic. The effectiveness of the proposed calibration procedures are proven by simulation and experiment using high accuracy 2-axis rotational gimbal motion system.

Keywords

MEMS Accelerometer Gyroscope Coning angle Azimuth angle 

Nomenclature

C

coning angle

A

azimuth angle

B

bias

S

sensitivity

V

output value of the sensor

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Benjamin, P., “Development of an Automatic IMU Calibration System,” ETH Master Thesis, 2013.Google Scholar
  2. 2.
    Li, C., Zhang, S., and Cao, Y., “One New Onboard Calibration Scheme for Gimbaled IMU,” Measurement, Vol. 46, No. 8, pp. 2359–2375, 2013.CrossRefGoogle Scholar
  3. 3.
    Bonnet, S., Bassompierre, C., Godin, C., Lesecq, S., and Barraud, A. “Calibration Methods for Inertial and Magnetic Sensors, Sensors and Actuator A: Physical,” Vol. 156, No. 2, pp. 302–311, 2009.CrossRefGoogle Scholar
  4. 4.
    Choi, K., Jang, S., and Kim, Y., “Calibration of Inertial Measurement Units Using Pendulum Motion,” International Journal of Aeronautical and Space Sciences, Vol. 11, No. 3, pp. 234–239, 2010.CrossRefGoogle Scholar
  5. 5.
    Han, K. J., Park, B. S., Lee, S. W., and Yu, M. J., “Accurate Calibration Method for SDINS Incorporating Earth-Rate Injection Technique,” Proc. of 12th International Conference on Control, Automation and Systems, pp. 2100–2105, 2012.Google Scholar
  6. 6.
    Aydemir, G. A. and Saranli, A., “Characterization and Calibration of MEMS Inertial Sensors for State and Parameter Estimation Applications,” Measurement, Vol. 45, No. 5, pp. 1210–1225, 2012.CrossRefGoogle Scholar
  7. 7.
    Lee, D., lee, S., Park, S., and Ko, S., “Test and Error Parameter Estimation for MEMS — based Low Cost IMU Calibration,” Int. J. Precis. Eng. Manuf., Vol. 12, No. 4, pp.597–603, 2011.CrossRefGoogle Scholar

Copyright information

© Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Korea Automotive Technology InstituteCheonanSouth Korea

Personalised recommendations