Look Up Table Implementation for IMU Error Compensation Algorithm

B. Altinoz,  D. Unsal

Abstract: Nowadays, changes of bias and scale factor errors with temperature is compensated by error compensation algorithms of MEMS-based IMUs. Changing of these errors with temperature is calculated by different degrees of polynomials which are used in error compensation algorithm. Sometimes, these polynomials use large amount of resources of processor or FPGA in which algorithm runs. This problem is encountered as a result of the increase in the degree of polynomials. In order to overcome this problem the use of Look up table is come into question. The use of Look Up Table vanishes the calculation of higher degree polynomial in each step of algorithm. Besides, lower degree polynomials are used due to the capacity of FPGA or processor and this prevents to increase the reliability of error calibration. Look up Table increases the sensitivity of error calibration because it can be formed by higher degree polynomials. This study presents the comparison between temperature-variated error compensation of different degrees of polynomials and Look up Table. The amount of use of the resources in FPGA and processors are evaluated for each method. Simulation studies are supported with real sensor datum.
Published in: Proceedings of IEEE/ION PLANS 2014
May 5 - 8, 2014
Hyatt Regency Hotel
Monterey, CA
Pages: 259 - 261
Cite this article: Altinoz, B., Unsal,  D., "Look Up Table Implementation for IMU Error Compensation Algorithm," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 259-261.
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