Calibration of an Inertial Measurement Unit on a Low-grade Turntable with Consideration of Spatial Offsets of Accelerometer Proof Masses

Kozlov, A.; Sazonov, I.; Vavilova, N.; Parusnikov, N.

Авторы: Kozlov A., Sazonov I., Vavilova N., Parusnikov N.
Сборник: 20th Saint Petersburg International Conference on Integrated Navigation Systems
Год издания: 2013
Место издания: Concern CSRI Elektropribor, JSC Saint-Petersburg
Первая страница: 126
Последняя страница: 129
Аннотация: The paper discusses the calibration of an assembled strapdown inertial measurement unit (IMU) using a low-grade sin-gle-axis turntable. Additional mathematical models complement the method described in previous papers in order to take into account the spatial offsets of accelerometers' proof masses relative to the rotation axis. These innovations allow improving the accuracy of calibration whereas the requirements for calibration experiments become simpler. Some results of experimental data processing complement the study. Calibration of strapdown inertial navigation systems (INS), airborne attitude and heading reference systems, etc. includes special experiments aimed to determine the parameters of instrumental errors of inertial sensors. Earlier works describe a method for calibration of an assembled inertial measurement unit which is based on the linear optimal estimation techniques. This method suits for systems of any grade of accuracy. The calibration experiment consists of three cycles of rotation. During each cycle one of the instrumental axes is aligned with the rotation axis of a turntable which is assumed to be horizontal. The entire setup allows errors within an accuracy of installation misalignments. This paper presents a method which makes it possible to decrease the requirements for the calibration experiment and, at the same time, to increase the accuracy of calibration. We suggest the approach to calibration of a strapdown INS of any accuracy class using a low-grade single-axis turntable accounting for spatial displacement of accelerometer proof masses off the rotation axis. Parameters of its displacements are estimated simultaneously with the rest of calibration parameters. That is why there is no more requirement for placing the IMU on a stand so that accelerometer proof masses are close to the rotation axis. This, for example, allows calibrating several IMUs simultaneously on the same test bench.
Добавил в систему: Козлов Александр Владимирович

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Calibration of an Inertial Measurement Unit on a Low-grade Turntable with Consideration of Spatial Offsets of Accelerometer Proof Massesстатья

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