Abstract
In this paper, a systematic numerical analysis on strap-down inertial measurement unit errors is developed for performance validation. An inertial measurement unit (IMU) incorporates various errors that will have influence on its performance. Understanding these errors is the first step to accurately accounting for them and obtaining an accurate estimate of the state of the vehicles on which the IMU is mounted. This paper attempts to characterize the total error in the measurement of the IMU as a result of the contribution of various IMU error sources. Error models for IMU bias, scale factor, misalignment errors, and random errors are given. The effect of these errors on the measurement of the IMU is simulated. The results demonstrate the validity of the models. KEYWORD: Inertial Measurement Unit (IMU); Error Modeling; Simulation
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