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Journal Article
A Calibration Technique for a Redundant IMU Containing Low-Grade Inertial Sensors
- Authors
- Seong Yun Cho, Chan Gook Park
- Issue Date
- 2005-08
- Citation
- ETRI Journal, v.27, no.4, pp.418-426
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원 (ETRI)
- Language
- English
- Type
- Journal Article
- Abstract
- A calibration technique for a redundant inertial measurement unit (EMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using a 2-axis turntable is also presented. Finally, a redundant IMU with cone configuration is implemented using low-grade inertial sensors, and the performance of the proposed technique is verified experimentally.
- KSP Keywords
- Faulty Sensors, Inertial Measurement Unit(IMU), Inertial sensors, Low-grade, Redundant IMU, Test Sequence, calibration technique