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Improving the Navigation Performance of the MEMS IMU Array by Precise Calibration
IEEE Sensors Journal ( IF 4.3 ) Pub Date : 2021-10-06 , DOI: 10.1109/jsen.2021.3118455
Liqiang Wang , Hailiang Tang , Tisheng Zhang , Qijin Chen , Jinwei Shi , Xiaoji Niu

Using a microelectromechanical system (MEMS) inertial measurement unit (IMU) array composed of multiple low-cost IMUs can reduce the measurement errors of inertial sensors, and improve its navigation performance. However, there is doubt about the benefit of the IMU array in the scene of GNSS/INS dynamic navigation . Therefore, to evaluate the navigation performance of the arrays, we developed four groups of IMU arrays, each containing 16 MEMS IMUs. Each IMU was accurately calibrated and compensated to improve the performance. The field experiments proved that the navigation accuracy of the IMU array improved by 3.4 times statistically over a single IMU, which is close to the theoretical limit, i.e., 4 times. Comparison data processing indicated that the individual IMU calibration reduced the horizontal position error of the array by 54% on average, which confirms that the precise calibration of each IMU, especially the cross-axis effect and mounting angles, is crucial to the array’s navigation performance. This research provides firm experimental support for the application of IMU arrays in the field of navigation.

中文翻译:

通过精确校准提高 MEMS IMU 阵列的导航性能

使用由多个低成本IMU组成的微机电系统(MEMS)惯性测量单元(IMU)阵列可以降低惯性传感器的测量误差,提高其导航性能。然而,IMU阵列在GNSS/INS场景中的好处存疑动态导航。因此,为了评估阵列的导航性能,我们开发了四组 IMU 阵列,每组包含 16 个 MEMS IMU。每个 IMU 都经过精确校准和补偿,以提高性能。现场实验证明,IMU阵列的导航精度比单个IMU提高了3.4倍,接近理论极限,即4倍。对比数据处理表明,单个IMU标定使阵列的水平位置误差平均降低了54%,这证实了每个IMU的精确标定,尤其是交叉轴效应和安装角度,对阵列的导航性能至关重要. 该研究为IMU阵列在导航领域的应用提供了有力的实验支持。
更新日期:2021-11-16
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