SCALING FACTORS AND ZERO OFFSETS OF THE MEMS ANGULAR VELOCITY SENSOR ESTIMATION USING A LINEAR DOUBLE KALMAN FILTER
https://doi.org/10.26583/vestnik.2023.20
Abstract
Calibration of the inertial sensors and the entire inertial measurement units (IMUs), as a rule, is carried out using special equipment such as turn-tables. However, for micromechanical (MEMS) modules, the use of such high-precision equipment is not reasonable due to high noise and varying parameters of measurement model for a particular device. Existing algorithmic solutions for calibrating MEMS IMUs either use an oversimplified IMU measurement model or require quite a lot of time to solve the problem. Therefore, this paper considers the application of a dual Kalman filter to the measurement model parameters estimation of a three-axis MEMS angular velocity sensor. The measurement model under consideration includes scale factors and sensor zero offsets. To solve the problem, several modifications are made to the classical dual Kalman filter. To confirm the applicability of the proposed algorithm, computational experiment was carried out, in which the IMU measurements are modeled according to the true known measurement model. The results of computational experiment have shown the applicability of the proposed approach and a sufficiently high accuracy of obtained estimates
About the Authors
A. P. Evdokimova
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Student, Automatic control systems Dept., Bauman Moscow State Technical University
A. L. Maslennikov
Bauman Moscow State Technical University
Russian Federation
Russian Federation
Senior Lecturer, Automatic control systems Dept., Bauman Moscow State Technical University
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For citations:
Evdokimova A.P., Maslennikov A.L. SCALING FACTORS AND ZERO OFFSETS OF THE MEMS ANGULAR VELOCITY SENSOR ESTIMATION USING A LINEAR DOUBLE KALMAN FILTER. Vestnik natsional'nogo issledovatel'skogo yadernogo universiteta "MIFI". 2023;12(1):9-19. (In Russ.) https://doi.org/10.26583/vestnik.2023.20
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