IMU error calibration of strapdown inertial navigation system

Volume 5, Issue 2, April 2020     |     PP. 46-61      |     PDF (353 K)    |     Pub. Date: June 27, 2020
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Wang Jianzhong, Department of Information Engineering,Chongqing Youth Vocational & Technical College, China

In view of the accuracy of strapdown inertial navigation system to the turntable, the difficulty of installation leveling and North alignment, as well as the various factors such as temperature rise, temperature change of hardware circuit board and components for a long time, the IMU is proposed to take the reference north angle, roll angle and pitch angle of the three-axis turntable as the reference, the actual movement speed of the system as the observation measurement, and the minimum is adopted Two multiplication fitting system level calibration algorithm, through three axis turntable multi-position static measurement, rotation angle measurement, rapid measurement of 24 parameters such as installation error and orthogonal error of inertial unit, sensor zero deviation, scale factor, etc., the system level calibration time is not more than 2h, and the course and attitude progress is better than 0.012°. This method is not only convenient and simple, but also convenient to improve the system accuracy and rapid batch production.

IMU; Zero Bias; Installation Error; Least Square Method; Three Axis Turntable;

Cite this paper
Wang Jianzhong, IMU error calibration of strapdown inertial navigation system , SCIREA Journal of Electrical Engineering. Volume 5, Issue 2, April 2020 | PP. 46-61.


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