Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base

Sensors

Zhihui Lin¹  Haifeng Xing¹  Zhiyong Chen¹  Haotian Yang¹  Meifeng Guo¹  Chengbin Wang¹ 

[1] Engineering Research Center for Navigation Technology, Department of Precision Instruments, Tsinghua University, Beijing 100084, China;

关键词: MEMS IMU;    rotation modulation technique;    swing base;    inertial frame-based alignment;    strong tracking filter;   

DOI  :  10.3390/s18041178

来源: DOAJ

【 摘 要 】

The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS IMUs remains a challenge for researchers. MEMS IMUs have been conventionally aligned on a static base, requiring other sensors, such as magnetometers or satellites, to provide auxiliary information, which limits its application range to some extent. Therefore, improving the alignment accuracy of MEMS IMU as much as possible under swing conditions is of considerable value. This paper proposes an alignment method based on the rotation modulation technique (RMT), which is completely self-aligned, unlike the existing alignment techniques. The effect of the inertial sensor errors is mitigated by rotating the IMU. Then, inertial frame-based alignment using the rotation modulation technique (RMT-IFBA) achieved coarse alignment on the swing base. The strong tracking filter (STF) further improved the alignment accuracy. The performance of the proposed method was validated with a physical experiment, and the results of the alignment showed that the standard deviations of pitch, roll, and heading angle were 0.0140 ° , 0.0097° , and 0.91 ° , respectively, which verified the practicality and efficacy of the proposed method for the self-alignment of the MEMS IMU on a swing base.

【 授权许可】

Unknown