Developed One Step Procedure of Calibration for MEMS IMU with Vehicle Applications

摘要

The Inertial Measuring Unit (IMU) has been used in many applications in our life. However, the accuracy of IMU limited where they can be used. The Micro Electro Mechanical Systems (MEMS) IMU is low cost but also low accuracy. The common ways to improve the accuracy of IMU are calibration and Allan Variance. The calibration can determine the systematic errors like bias, scale factor and non-orthogonality from accelerometers and gyros. The Allan variance can analyze the random errors include Angle Random walk (ARW), Velocity Random walk (VRW) and so on. The results of Allan variance can determine the parameters of those random errors with Power Spectral Density (PSD). There are only few researches about calibration and error analysis in Taiwan. The Taiwanese civil users have no ability to test and correct the IMU used in Mobile Mapping System (MMS) and other applications when some problems happened. The MEMS IMU we used didn't do any error compensations and usually used in smartphone. The purpose is to develop one step calibration scheme and also the analysis of Allan variance for MEMS IMU. The field tests are used to verify the performance of IMU after calibration.