MEMS-IMU automatic calibration system design and implementation

Abstract

Aiming at the problems of traditional calibration, long calibration cycles, and low efficiency of traditional error calibration methods for MEMS inertial devices, a MEMS IMU automatic calibration system is proposed. Firstly, the error mechanism of MEMS-IMU is analyzed, the error model is established, and the calibration scheme is designed. Then, the automatic control of the turntable and the automatic data acquisition of MEMS inertial devices are realized by designing the data interaction mechanism between the system equipment. Finally, the least square method is used to identify the model parameters. The experimental results show that this method can meet the requirements of multi-position and multi-rate calibration. After compensation, the relative errors of the MEMS gyroscope and accelerometer are 0.04% and 0.15%, respectively, and the cross-coupling error of the MEMS gyroscope is reduced to about 0.1 °/s. At the same time, the whole calibration process is easy to operate, which greatly shortens the calibration time and improves the calibration efficiency.