An enhanced multi-position calibration method for consumer-grade inertial measurement units applied and tested

2010 ◽  
Vol 21 (10) ◽  
pp. 105204 ◽  
Author(s):  
Tuukka Nieminen ◽  
Jari Kangas ◽  
Saku Suuriniemi ◽  
Lauri Kettunen
Keyword(s):  
Calibration Method ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Measurement Units ◽  
Position Calibration

scholarly journals Optimized Multi-Position Calibration Method with Nonlinear Scale Factor for Inertial Measurement Units

Sensors ◽  
2019 ◽  
Vol 19 (16) ◽  
pp. 3568 ◽  
Author(s):  
Wang ◽  
Cheng ◽  
Fu
Keyword(s):  
Calibration Method ◽  
Scale Factor ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Initial Values ◽  
Scale Factors ◽  
Calibration Methods ◽  
Measurement Units ◽  
Position Calibration ◽  
Nonlinear Scale

Navigation grade inertial measurement units (IMUs) should be calibrated after Inertial Navigation Systems (INSs) are assembled and be re-calibrated after certain periods of time. The multi-position calibration methods with advantage of not requiring high-precision equipment are widely discussed. However, the existing multi-position calibration methods for IMU are based on the model of linear scale factors. To improve the precision of INS, the nonlinear scale factors should be calibrated accurately. This paper proposes an optimized multi-position calibration method with nonlinear scale factor for IMU, and the optimal calibration motion of IMU has been designed based on the analysis of sensitivity of the cost function to the calibration parameters. Besides, in order to improve the accuracy and robustness of the optimization, an estimation method on initial values is presented to solve the problem of setting initial values for iterative methods. Simulations and experiments show that the proposed method outperforms the calibration method without nonlinear scale factors. The navigation accuracy of INS can be improved by up to 17% in lab conditions and 12% in the moving vehicle experiment, respectively.

Dynamic calibration method of inertial measurement units

2015 ◽  
Vol 21 (11) ◽  
pp. 2463-2467 ◽  
Author(s):  
Yu. V. Filatov ◽  
A. M. Boronakhin ◽  
V. B. Dao ◽  
V. T. Le
Keyword(s):  
Calibration Method ◽  
Dynamic Calibration ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Measurement Units ◽  
Dynamic Calibration Method

Improved multi-position calibration for inertial measurement units

2009 ◽  
Vol 21 (1) ◽  
pp. 015107 ◽  
Author(s):  
Hongliang Zhang ◽  
Yuanxin Wu ◽  
Wenqi Wu ◽  
Meiping Wu ◽  
Xiaoping Hu
Keyword(s):  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Measurement Units ◽  
Position Calibration

Minimum Settings Calibration Method for Low-Cost Tri-Axial IMU and Magnetometer

2021 ◽  
Author(s):  
Cui Chao ◽  
Zhao Jiankang ◽  
Jianbin Zhu ◽  
Nassim Bessaad
Keyword(s):  
Cost Function ◽  
Real World ◽  
Low Cost ◽  
Calibration Method ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Calibration Methods ◽  
Minimum Requirements ◽  
Measurement Units ◽  
Major Defect

Abstract This manuscript presents a minimum settings calibration method for low-cost tri-axial inertial measurement units (IMU) and magnetometers. At first, we analyze the major defect of the traditional calibration methods for tri-axial accelerometers and magnetometers. To fix that problem, we just utilize the ellipsoid model to calibrate the tri-axial accelerometer and magnetometer preliminarily, then complete the calibration work with at least two reference angular positions, and prove that two reference angular positions are minimum requirements in the calibration progress. Next, the tri-axial gyroscope is calibrated based on the nonlinear cost function with the aid of the pre-calibrated accelerometer. The simulation and real-world experiment results show that the proposed method is practical and effective, suggesting that this technique is a viable candidate for the IMU and magnetometer applications.

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