A New Calibrating Method for Micro Inertial Measurement Unit
Based on analyzing to the existing calibrating methods for Micro Inertial Measurement Unit (MIMU), a new calibrating method for MIMU is proposed, and we take example for the calibrating method for gyros in MIMU, the basic principle of the new method is expounded, and the detail computing process of the new method is deduced. The core thought is that it consider there are 9 installing error angles in MIMU, and 3 corresponding zero basic voltage, and 3 scaling factors, the total num of the need calibrating parameter is 15, meanwhile, consider the correlation among the installing error angles, then, we can separate and resolve every parameter by designing the reasonable calibrating experiment, and then, compensate the error during the navigation computation. The experimental results show the new method presented in this paper is correct and effective.
KeywordsMIMU Calibration Installing error angles Zero basic voltage Scaling factors
This work was supported by the National Natural Science Foundations of China under Grant 50905169. The authors sincerely appreciate the assistance of all personnel in the Science and Technology on Electronic Test & Measurement Laboratory.
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