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Research on the Influence of System Calibration Method on Low-Cost MEMS Inertial Sensor Navigation Result

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Advances in Guidance, Navigation and Control

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 644))

Abstract

A calibration method for low-cost MEMS Inertial Sensor is proposed. The processing model based on regression analysis determines the output error model of the sensor. In comparison to a previous sensor calibration method, first we implemented the parameters of the MEMS inertial sensor error model are determined by regression analysis. Then the matrix decomposition is used to realize the coupling error of the accelerometer and gyroscope output information, and the Kalman filter is constructed to complete the parameter estimation. For a low-cost MEMS inertial measurement unit of a certain type, the multi-position error calibration method is used to complete the parameter estimation, after reducing the noise of the original data by the wavelet threshold. Finally, the horizontal static test is used to verify the impact of the error calibration on the strapdown navigation result. The experimental results show that under the condition of low dynamic motion, matrix decoupling removes the coupling term error and has a significant effect on the suppression of velocity error. The second-order nonlinear factor has a significant effect on the convergence of the sky velocity error.

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Authors and Affiliations

  1. School of Traffic and Transportattion, Lanzhou Jiaotong University, Lanzhou, 730070, China

    Yang Juhua

  2. Automatic Control Institute, Lanzhou Jiaotong University, Lanzhou, 730070, China

    Cheng Jianhao, Chen Guangwu & Liu Hao

  3. Key Laboratory of Plateau Traffic Information Engineering and Control in Gansu Province, Lanzhou, 730070, China

    Cheng Jianhao, Chen Guangwu & Liu Hao

Authors
  1. Yang Juhua
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  2. Cheng Jianhao
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  3. Chen Guangwu
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  4. Liu Hao
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Corresponding author

Correspondence to Cheng Jianhao .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Liang Yan

  2. Beihang University, Beijing, China

    Haibin Duan

  3. Beihang University, Beijing, China

    Xiang Yu

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© 2022 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Juhua, Y., Jianhao, C., Guangwu, C., Hao, L. (2022). Research on the Influence of System Calibration Method on Low-Cost MEMS Inertial Sensor Navigation Result. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_103

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