Title: Improved Strapdown Inertial Measurement Unit Calibration Procedures
Author(s): Paul G. Savage
Published in: Proceedings of IEEE/ION PLANS 2018
April 23 - 26, 2018
Hyatt Regency Hotel
Monterey, CA
Pages: 522 - 533
Cite this article: Savage, Paul G., "Improved Strapdown Inertial Measurement Unit Calibration Procedures," Proceedings of IEEE/ION PLANS 2018, Monterey, CA, April 2018, pp. 522-533.
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Abstract: This article describes an improved strapdown rotation test (SRT) for calibrating the compensation coefficients in a strapdown inertial measurement unit (IMU). The SRT consists of a set of IMU rotation sequences and processing routines that enable precision determination of IMU gyro/accelerometer misalignment, gyro/accelerometer scale factor, and accelerometer bias calibration errors, all without requiring precision rotation fixtures and IMU mounting procedures. The improved SRT is compatible with a broad range of IMU types from aircraft accuracy inertial navigation systems to low cost micro-machined electronic module systems (MEMS). This article describes the general theory for the improved rotation tests, rotation test operations, data collection during test, post-test data processing, rotation test fixture requirements, and an analysis of SRT accuracy in determining IMU sensor errors.