Abstract
This paper proposes a comprehensive calibration method to improve the precision of a strap-down tri-axis accelerometer unit, in which parameters are divided into static and dynamic ones. The contribution of the manuscript is that it solves the problem of inappropriate installation and the size effect error for tri-axis accelerometer unit at high speed by using static and dynamic calibration method, respectively. The experiment results show the measuring accuracy of accelerometers is increased by more than one order of magnitude, and the navigation precision is increased by more than two orders of magnitude.
Highlights
For strap-down Inertial Navigation System (SINS), an inertial measurement unit (IMU) is directly installed in the vehicle
We propose a comprehensive calibration method
We developed developed aa static static and and dynamic dynamic compensation compensation method method for for an an accelerometer accelerometer unit, unit, which which can can
Summary
For strap-down Inertial Navigation System (SINS), an inertial measurement unit (IMU) is directly installed in the vehicle. Underthe the specific low dynamic size effect error is relatively small can be the position forceenvironment, load on thethe accelerometer unit is a point, andand a new ignored, and the above methods are effective. In this method, we assume that calibration of 15 parameters, fully reflect theaccelerometer characteristics sensor itself anda improve the position in which thewhich specificcan force load on the unitofisthe a point, and new measurement accuracy of the sensor. SINS: strap-down inertial navigation calibration, it can make three installationsystem; directions of the accelerometer completely equivalent to the standard coordinate system and ensure the accelerometer unit better perpendicularity. IMU, three orthogonal axials define the coordinate system as the following: represented as xb , yb and zb , respectively, and (rx ry rz ) is the distance between position of the accelerometer origin O, respectively. (3) Navigation coordinate system (n-frame): its origin O is at the center of the gravity vector
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