Abstract
Thanks to its light weight, low power consumption, and low price, the inertial measurement units (IMUs) have been widely used in civil and military applications such as autopilot, robotics, and tactical weapons. The calibration is an essential procedure before the IMU is put in use, which is generally used to estimate the error parameters such as the bias, installation error, scale factor of the IMU. Currently, the manual one-by-one calibration is still the mostly used manner, which is low in efficiency, time-consuming, and easy to introduce mis-operation. Aiming at this issue, this paper designs an automatic batch calibration method for a set of IMUs. The designed automatic calibration master controller can control the turntable and the data acquisition system at the same time. Each data acquisition front-end can complete data acquisition of eight IMUs one time. And various scenarios of experimental tests have been carried out to validate the proposed design, such as the multi-position tests, the rate tests and swaying tests. The results illustrate the reliability of each function module and the feasibility automatic batch calibration. Compared with the traditional calibration method, the proposed design can reduce errors caused by the manual calibration and greatly improve the efficiency of IMU calibration.
Highlights
Micro electro mechanical system (MEMS) inertial sensors play an increasing important role in nowadays technology development
The inertial measurement unit (IMU) composed of MEMS inertial sensors are superior in light weight, low power consumption, good durability, and low price [1], and it can provide the position, speed and attitude information of the carrier [2], that makes it very popular in civilian electronic toys, smart machinery, medical equipment, automotive electronics, mobile phones, as well as military weapons [3]
In order to meet the needs of automatic calibration and batch calibration of MEMS IMUs at the same time, this paper proposes an automatic batch calibration system for MEMS IMUs
Summary
Micro electro mechanical system (MEMS) inertial sensors play an increasing important role in nowadays technology development. There are various calibration methods for the IMUs. Accelerometer test calibration can be divided into different types according to the generation of the standard acceleration signal (excitation signal), such as gravity field test [5], shaking table test [6], impact test [7], centrifuge test [8]. Chen [16] designed an object-oriented automatic system based on the turntable, which controls the three-axis position turntable and automatically collects the test data of the IMU. Both the systems just calibrate one set of MEMS IMU at a time, which is not efficient for a number of IMUs [17].
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