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Abstract
The micro-electro-mechanical inertial measurement unit (MEMS-IMU) has gradually become a research hotspot in the field of mid-low navigation, because of its advantages of low cost, small size, light weight, and low power consumption (CSWap). However, the performance of MEMS-IMUs can be severely degraded when subjected to temperature changes, especially gyroscopes. In order to make full use of the navigation accuracy, this paper proposes an optimized error calibration method for a tri-axial MEMS gyroscope across a full temperature range. First of all, a calibration error model is established which includes package misalignment error, sensor-to-sensor non-orthogonality error, scale factor, and bias. Then, a simple three-position positive/reversed test is undertaken by carrying out a single-axis temperature-controlled turntable at different reference temperature points. Lastly, the error compensation vector is obtained using the least squares method to establish an error matrix. It is worth mentioning that the error compensation vector at a known temperature point can be calculated through Lagrange interpolation; then, the outputs of the tri-axial MEMS gyroscope can be well compensated, eliminating the need for a recalibration step. The experimental results confirm the effectiveness of the proposed method, which is feasible and operational in engineering applications, and has a certain reference value.
Highlights
With the rapid development of micro-electro-mechanical systems (MEMS), they have become widely used in the fields of drones, smart phones, motion tracking systems, and health testing devices [1]
Based on the above tri-axial MEMS gyroscope error model and the MEMS-IMU was fixed on a high-precision hexahedron, and the experiments were performed at calibration method, the MEMS-IMU was fixed on a high-precision hexahedron, and the experiments different temperature points to acquire the error vector matrix, after which the calculation results were were performed at different temperature points to acquire the error vector matrix, after which the compared analyzed
This paper presented an optimized tri-axial MEMS gyroscope error calibration method
Summary
With the rapid development of micro-electro-mechanical systems (MEMS), they have become widely used in the fields of drones, smart phones, motion tracking systems, and health testing devices [1]. In Lee’s research [19], the Fourier transform method was adopted to calibrate the bias, the scale factor, and the package misalignment error coefficient of the MEMS gyroscope, which achieved a certain improvement in the calculation time. Based on the above analysis, compared to existing error calibration methods such as multi-axis turntables and different optimization algorithms, this paper proposes a simple and practical error calibration method for a tri-axial MEMS gyroscope using a single-axis temperature-controlled turntable at different temperatures. A flexible three-position positive/reversed test was carried out, and the least squares method was adopted to calculate the error coefficients, which includes misalignment errors, the scale factor, and bias at reference temperature points.
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