ETRI Journal

  • 제27권4호
  • /
  • Pages.418-426
  • /
  • 2005
  • /
  • 1225-6463(pISSN)
  • /
  • 2233-7326(eISSN)
한국전자통신연구원 (Electronics and Telecommunications Research Institute)
권호 표지

A Calibration Technique for a Redundant IMU Containing Low-Grade Inertial Sensors

  • Cho, Seong-Yun (Telematics Research Division, ETRI) ;
  • Park, Chan-Gook (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
  • 투고 : 2004.12.15
  • 발행 : 2005.08.31
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초록

A calibration technique for a redundant inertial measurement unit (IMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and a test sequence using a 2-axis turntable is also presented. Finally, a redundant IMU with cone configuration is implemented using low-grade inertial sensors, and the performance of the proposed technique is verified experimentally.

키워드

참고문헌

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