Browse > Article
http://dx.doi.org/10.5139/JKSAS.2004.32.10.053

Calibration of a Redundant IMU with Low-grade Inertial Sensors  

Cho, Seong-Yun (한국전자통신연구원 텔레매틱스연구단)
Park, Chan-Gook (서울대학교 기계항공공학부)
Lee, Dal-Ho (경원대학교 전자공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.32, no.10, 2004 , pp. 53-59 More about this Journal
Abstract
A calibration technique for a redundant IMU with low-grade inertial sensors is proposed. In order to calibrate the redundant IMU that can detect and isolate a faulty sensor, 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 the 2-axis rate table is also presented. Finally, a redundant IMU with cone configuration is implemented using the low-grade inertial sensors and the performance of the proposed technique is verified by some experiments.
Keywords
Calibration; Cone Configuration Redundant IMU; Rate Test; Multi-position Test;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 J. V. Harrison and E. G. Gai, "Evaluating Sensor Orientations for Navigation Performance and Failure Detection," IEEE Tr. AES, Vol.13, No.6, pp.631-643,November 1977.
2 U. Krogmann, "Identification Procedures for Strapdown Sensor Parameters by Laboratory Testing," DGON-Symposium Gyro Technology, 1978.
3 D. K. Joos, "Determination and Evaluation of Strapdown-Sensor-Parameters from SystemTest-Data," Symposium Gyro Technology, 1979.
4 J. Mark, D. Tazartes and T. Hilby, "Fast Orthogonal Calibration of a Ring Laser Strapdown System," Sym. Gyro Technology, 1986.
5 J. P. Gilmore, "A Nonorthogonal Gyro Configuration," S.M. Thesis, Aeronautics and Astronautics Dept., M.I.T., Cambridge, MA, 1967.
6 박찬국 외, 관성항법장치 항법 알고리즘 연구, 자동제어특화연구센터 1단계 연구보고서, 1997.
7 정도형,박찬국,이장규, "2-자유도 중첩센서의 최적배치," 한국항공우주학회지, 제20권 3호, pp.97-106, 1992.9.
8 김정용,양철관,심덕선, "관성항법시스템의 중첩센서 배치에 대한 항법 및 고장검출 성능분석," 제어자동화시스템공학 논문지, 제8권 제8호, 2002.
9 L. Camberlein and F. Mazzanti, "Calibration Technique for Laser Gyro Strapdown Inertial Navigation System," Sym. Gyro Technology, 1985.