Estimation of Uncertainty of IMU Module Measurement Results

摘要

In the paper we present a method for estimating uncertainty of measurement that can be used for expressing the measurement uncertainty of 3-axis acceleration, angular velocity and magnetic field sensors used in the IMU modules, that had been calibrated using the direct calibration method. Linear model of 3-axis sensors is assumed. The described method of uncertainty estimation was used to determine the uncertainty of measurement of 3-axis acceleration sensor in module IMU5, which uses LSM303DLM chip delivered by STMicroelectronics. As a reference MTi-G28 IMU module by Xsens company was used.