Network dynamic field calibration for micro inertial measurement unit

摘要

Calibration accuracy of micro inertial measurement unit (MIMU) will affect the navigation accuracy of micro strap-down inertial navigation system. Generally, when the application environment changes (i.e. environment temperature and humidity), the specific force and angular rate output by MIMU will be changed, which were influenced by the zero bias of accelerometers, the zero drift of gyroscopes and so on. Thus, it is necessary to carry out the field calibration for MIMU. Aiming at the application of multi MIMUs, the network dynamic field calibration method is proposed in this paper. According to the navigation attitude and velocity error models, the estimating model is established. Then, the observability for the parameters in the estimating model is analyzed. By fusing the output information of MIMUs and GPS, vehicle experiments are carried out with the designed maneuvers in order to estimate the parameters. The experiment result illustrated that the proposed network dynamic filed calibration can efficiently realize the calibration for the parameters in the model of several MIMUs simultaneously.