A miniature low cost ring laser gyroscope inertial measurement unit

摘要

This paper describes the design, operation and test results of a miniature low cost inertial measurement unit (IMU) that uses low cost dithered ring laser gyroscope and quartzes flexible accelerometer. The hardware configuration of the miniature low cost IMU is introduced, mainly including basic configuration, performance of the ring laser gyroscope and accelerometer. The alignment algorithm and integrated GPS/inertial Kalman filter algorithm are introduced. The static experiments, turntable experiments and outdoor vehicle experiments are performed. Experimental results are presented in this paper showing the performance of the miniature low cost IMU.