Automatic calibration of low cost inertial gyroscopes with a PTU

Delgado, Javier; Silva, P. R. M.; Quiroz, Cesar; Kurka, Paulo Roberto Gardel

doi:10.1109/itsc.2016.7795541

Cited by 2 publications

(1 citation statement)

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“…It is possible to eliminate most of the errors and improve the measurement accuracy by establishing an accurate mathematical error model and optimizing the compensation calibration. In Delgado’s research [ 2 ], a simple procedure for calibrating gyroscopes was proposed by a direct reversal of the coefficient matrix to estimate the sensor parameters through the automatic camera pan base. Zeng et al [ 3 ] used a shaking table to calibrate the error of the gyroscope through the average method, the harmonic analysis method, and the least squares method, and explained the conditions and the estimation accuracy of each method.…”

Section: Introductionmentioning

confidence: 99%

A Novel Tri-Axial MEMS Gyroscope Calibration Method over a Full Temperature Range

Yang

Zhou

Wang

et al. 2018

Sensors

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The micro-electro-mechanical inertial measurement unit (MEMS-IMU) has gradually become a research hotspot in the field of mid-low navigation, because of its advantages of low cost, small size, light weight, and low power consumption (CSWap). However, the performance of MEMS-IMUs can be severely degraded when subjected to temperature changes, especially gyroscopes. In order to make full use of the navigation accuracy, this paper proposes an optimized error calibration method for a tri-axial MEMS gyroscope across a full temperature range. First of all, a calibration error model is established which includes package misalignment error, sensor-to-sensor non-orthogonality error, scale factor, and bias. Then, a simple three-position positive/reversed test is undertaken by carrying out a single-axis temperature-controlled turntable at different reference temperature points. Lastly, the error compensation vector is obtained using the least squares method to establish an error matrix. It is worth mentioning that the error compensation vector at a known temperature point can be calculated through Lagrange interpolation; then, the outputs of the tri-axial MEMS gyroscope can be well compensated, eliminating the need for a recalibration step. The experimental results confirm the effectiveness of the proposed method, which is feasible and operational in engineering applications, and has a certain reference value.

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Section: Introductionmentioning

confidence: 99%