Research on practical calibration compensation method of MIMU

Abstract

Abstract The Micro-inertial measurement unit (MIMU) is affected by the processing, installation and environment during its working process, which will produce large errors, resulting in low measurement precision, therefore, error calibration compensation is necessary. In this paper, a practical calibration compensation method of MIMU based on the error model of gyroscope and accelerometer was studied. The practical method uses a three-axis multi-functional turntable, which can provide high-precision angular rate and spatial position benchmark, to design the angular rate and six-position calibration scheme, and computes twenty-four error parameters of the MIMU, including zero bias, scale factor and installation error coefficient. The analysis of the experimental result shows that the precision of MIMU after calibration compensation can be improved by 1-2 orders of magnitude, which proves the effectiveness of the calibration compensation method.