Novel Self-Calibration Method for IMU Using Distributed Inertial Sensors

Abstract

Inertial measurement unit (IMU) calibration is essential to ensure the successful operation of various navigation systems. This article describes a novel method for self-calibration of IMU with distributed sensor architectures. The IMU is composed of modules that are distributed along the measurement axes. Each module is equipped with a single-axis gyroscope and three-axis accelerometer sensors. The modules have also their own signal-conditioning circuits and processors. This enables single-axis calibration of the module with a servo system based on a piezoelectric actuator (PEA). The proposed IMU and calibration method are capable of on-site self-calibration. The calibration is performed with the sinusoidal movements generated by the servo system. Despite the limited displacement of the PEA, high angular velocity and tangential acceleration can be achieved with the servo system. Thus, the gyroscope sensor can be directly calibrated with the angular velocity produced by the servo system. On the other hand, the calibration parameters of the accelerometer are determined by using the tangential and centripetal acceleration produced by the servo system. With the proposed method, the bias, scale factor, and installation errors of accelerometer and gyroscope sensors can be determined. The method has been analyzed by conducting experiments with a prototype IMU. In addition, experiments on 3-DoF turntables have been conducted to confirm the effectiveness of the proposed self-calibration method.