Optimal Inner Lever-arm Parameters Calibration Method of High-precision FOG-IMU Based on Sinusoidal Swing Scheme

Chang Jiachong, Zhang Ya, Wang Zhuo, Liu Chao, Wang Yanyan

Peer Reviewed

Abstract:	Due to limitations of volume and installation conditions, the sensitive points of accelerometers in highprecision fiber optic gyroscope inertial measurement unit (FOGIMU) cannot be completely coincide with the center of IMU. This deviation may cause tangential and centripetal acceleration errors when the IMU is rotated. Therefore, the inner lever-arm parameters need to be accurately identified and compensated for high-precision FOG-IMU applications. Firstly, the measurement model of accelerometer inner lever-arm parameters is established in this paper. A 21-dimensional Kalman filter for calibrating the inner lever-arm parameters is proposed. Then, an effective sinusoidal swing scheme is designed to calibrate the parameters of 9-dimensional inner lever-arm parameters. Compared with traditional calibration methods, the proposed method can obtain higher accuracy parameters through theoretical analysis and simulation. Afterwards, the feasibility and accuracy of the proposed method are verified by experiments. Finally, the velocity errors of the actual FOG-IMU system are significantly reduced after compensation, improving its navigation performance.
Published in:	2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 20 - 23, 2020 Hilton Portland Downtown Portland, Oregon
Pages:	734 - 739
Cite this article:	Jiachong, Chang, Ya, Zhang, Zhuo, Wang, Chao, Liu, Yanyan, Wang, "Optimal Inner Lever-arm Parameters Calibration Method of High-precision FOG-IMU Based on Sinusoidal Swing Scheme," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 734-739.
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