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A Separated Calibration Method for Inertial Measurement Units Mounted on Three-Axis Turntables

机译：安装在三轴转台上的惯性测量单元的单独校准方法

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摘要

Inertial Measurement Unit (IMU) calibration accuracy is easily affected by turntable errors, so the primary aim of this study is to reduce the dependence on the turntable’s precision during the calibration process. Firstly, the indicated-output of the IMU considering turntable errors is constructed and with the introduction of turntable errors, the functional relationship between turntable errors and the indicated-output was derived. Then, based on a D-suboptimal design, a calibration method for simultaneously identifying the IMU error model parameters and the turntable errors was proposed. Simulation results showed that some turntable errors could thus be effectively calibrated and automatically compensated. Finally, the theoretical validity was verified through experiments. Compared with the traditional method, the method proposed in this paper can significantly reduce the influence of the turntable errors on the IMU calibration accuracy.
机译：惯性测量单元（IMU）的校准精度容易受到转盘误差的影响，因此，本研究的主要目的是减少在校准过程中对转盘精度的依赖性。首先，构造了考虑转台误差的IMU的指示输出，并引入转台误差，推导了转台误差与指示输出之间的函数关系。然后，基于D次优设计，提出了一种同时识别IMU误差模型参数和转盘误差的校准方法。仿真结果表明，可以有效地校准和自动补偿一些转台误差。最后，通过实验验证了理论有效性。与传统方法相比，本文提出的方法可以大大减少转台误差对IMU校准精度的影响。

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