ИСПОЛЬЗОВАНИЕ ОПТИМИЗАЦИОННОГО ПОДХОДА ДЛЯ АВТОМАТИЗИРОВАННОЙ КАЛИБРОВКИ МИКРОЭЛЕКТРОМЕХАНИЧЕСКОЙ ИНЕРЦИАЛЬНОЙ НАВИГАЦИОННОЙ СИСТЕМЫ

Abstract

Technologies of autonomous wheeled robotic systems are becoming more and more in demandlately. A separate type of application of such technology is an autonomous unmannedground vehicle. Unlike other types of transport (air, water), ground vehicles need to periodicallyoperate in full autonomy - when external communication with the infrastructure and other agentsof the transport network is inaccessible. In such circumstances, the issue of autonomous navigationcomes out on top, and increased requirements are imposed on positioning accuracy, especiallyin an anthropogenic environment, for example, when driving in an urban environment, alongnarrow mountain roads, and tunnels. One of the components of autonomous navigation is often aninertial assembly consisting of several accelerometers, gyroscopes, and magnetometers. To obtaina high-precision navigation solution based on an inertial assembly, it is required to properly calibrateit. A separate issue is automation and its cost for further scaling necessary for mass production.The article presents the theory and methodology for automated calibration of an inertialnavigation system based on MEMS sensors by solving an optimization problem. The proposedtechnique does not require high-precision calibration equipment. The aim of the presented work isto develop methods and theory for the calibration of inertial navigation units. The article formulatesgeneral measurement models of sensors included in the inertial assembly, and proposesmethods for calibrating the parameters of accelerometers and gyroscopes fixed relative to eachother. The method of automation of the calibration process is presented, which does not requirehigh-precision equipment. The results of the application of the developed methods for the calibrationof a real inertial assembly are presented. A stand for automated calibration is presented.