Thermal Calibration Procedure and Thermal Characterisation of Low-cost Inertial Measurement Units

被引:18
作者
Wang, Qingjiang [1 ,2 ]
Li, You [1 ]
Niu, Xiaoji [1 ]
机构
[1] Wuhan Univ, GNSS Res Ctr, 129 Luoyu Rd, Wuhan 430079, Hubei, Peoples R China
[2] State Key Lab Satellite Nav & Positioning Engn, 589 Zhongshan Rd, Shijiazhuang 050500, Hebei, Peoples R China
基金
中国国家自然科学基金;
关键词
MEMS inertial sensors; IMU; Thermal Calibration; Turntable; LAND VEHICLE NAVIGATION; SENSORS;
D O I
10.1017/S0373463315000600
中图分类号
U6 [水路运输]; P75 [海洋工程];
学科分类号
0814 ; 081505 ; 0824 ; 082401 ;
摘要
This paper investigates the thermal characteristics of typical Micro Electro-Mechanical System (MEMS) Inertial Measurement Units (IMUs) with a reliable thermal test procedure. Test results show that MEMS sensor errors, not only biases, but also scale factors and non-orthogonalities, may vary significantly with temperature. Also, MEMS sensor errors can have significant inconsistent curves under different temperature changing profiles. The existence of such inconsistencies posed a challenge to the following assumption of thermal calibration: the thermal drift of a sensor error is only related to the temperature of the sensor core. A robust way to mitigate this issue is given by using the sensor data during both heat-and-stay and cool-and-stay processes to establish the final thermal models. The performance of both IMUs and inertial navigation systems improved significantly after compensation with the established thermal models. Additionally, the variation of the IMU thermal parameters with time was observed, which suggests that periodical thermal calibration is necessary for MEMS IMUs.
引用
收藏
页码:373 / 390
页数:18
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