Characterization and calibration of MEMS inertial sensors for state and parameter estimation applications

被引：89

作者：

Aydemir, Gokcen Asian ^{[1
]}

Saranli, Afsar ^{[2
]}

机构：

[1] Turkish Sci & Technol Res Council Turkey TUBITAK, Def Res & Dev Inst SAGE, Ankara, Turkey

[2] Middle E Tech Univ, Dept Elect & Elect Engn, TR-06531 Ankara, Turkey

来源：

MEASUREMENT | 2012年 / 45卷 / 05期

关键词：

Sensor calibration; Inertial Measurement Units (IMUs); Body state estimation; Kalman Filter; MEMS;

D O I：

10.1016/j.measurement.2012.01.015

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Widening applications of inertial sensors have triggered the search for cost effective sensors and those based on MEMS technology have been gaining popularity and widespread use particularly for lower cost applications. However, inertial sensors are subject to various error sources and characteristics of these should be modelled carefully. Corrective calibration is required for successful use for anything but the most trivial applications, body state estimation and navigation being important application areas. In this paper, we review the deterministic error and random noise sources for these sensors, consider a number of inertial sensor calibration tests to provide models for these errors and derive the calibration parameters for MEMS based strapdown IMUs. We carry out these tests and present the results for a low cost and popular IMU. We further provide performance results for an example application of body state and parameter estimation using the derived calibration data and discuss our results. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：1210 / 1225

页数：16

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