Research on a Distributed Calibration Method Based on Specific Force Measurement

Abstract

Micro-electro-mechanical system (MEMS) inertial devices are small volume, lightweight, low cost, and have mass-production characteristics. The development trend of inertial modules is to reduce cost and improve accuracy, and batch calibration of MEMS devices is one of the most feasible solutions to reduce cost. In this paper, we propose a distributed calibration method based on system-level, discrete calibration. The distributed calibration method requires only one or a few rotations of the combined and arranged devices to excite the individual error parameters of the inertial instruments. In this study, the relationship between the error parameters and the navigation error was rewritten using equivalence transformation, and the 24 error parameters of the device were identified by the distributed least-squares estimation using the velocity error as the observed quantity. In simulation experiments, this method could calibrate more MEMS devices simultaneously than the traditional calibration method with the exact accuracy requirement.

Research on second order complementary filter strapdown inertial navigation algorithm based on information fusion

“…The acceleration measured by the accelerometer is not the motion acceleration of the carrier, but the difference between the absolute acceleration of the carrier relative to the inertial space and the acceleration due to gravity, that is, the specific force [5]. If the specific force is directly converted to the navigation coordinate system for integral operation, the final navigation error will become larger and larger.…”