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Improving the calibration process of inertial measurement unit for marine applications
NAVIGATION ( IF 2.2 ) Pub Date : 2020-11-04 , DOI: 10.1002/navi.400
Hossein Rahimi 1 , Amir Ali Nikkhah 1
Affiliation  

Marine navigation systems have very accurate sensors, such as 0.01deg/hr gyro drift stability and 0.1mg/year accelerometer bias stability. Common calibration methods and equipment do not meet the accuracy required. In this paper, a systematic method for calibration of an inertial measurement unit (IMU) for marine applications is proposed which is not based on the accuracy of the calibration turn table and only requires one specific plate to determine the initial attitude of the IMU and functions independently of the turn table. The first contribution of this paper is to derive a model for systematic calibration of IMU that expresses the rotation matrix error and velocity as a linear function of the calibration parameters at any time. As the second contribution, this paper proposes a calibration algorithm with only using an initial, specific plate. Using the actual data, it was found that the proposed algorithm provides a good estimation of the parameters.

中文翻译:

改善船用惯性测量单元的校准过程

海上导航系统具有非常精确的传感器,例如0.01deg / hr的陀螺仪漂移稳定性和0.1mg / year的加速度计偏置稳定性。常见的校准方法和设备不符合要求的精度。在本文中,提出了一种用于海洋应用的惯性测量单元(IMU)的系统校准方法,该方法不基于校准转台的精度,仅需要一个特定的板即可确定IMU和功能的初始姿态独立于转台。本文的首要贡献是推导了用于IMU的系统校准的模型,该模型可随时将旋转矩阵误差和速度表示为校准参数的线性函数。作为第二个贡献,本文提出了仅使用初始的特定平板的校准算法。
更新日期:2020-12-03
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