A method for determining and correction of misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle

摘要

An inertial measurement unit (units imu contains) contains three linear acceleration sensors, and three rotation rate sensors. For the sensors there are desired installation directions parallel to the coordinate axes of a cartesian coordinate system. The actual installation directions of the sensors may be on the basis of error orientations differ from the desired installation directions. By comparison of the linear acceleration sensors measured accelerations in the case of different listings of the vehicle with for these different emplacements known values of the acceleration in the cartesian coordinate system, the actual installation directions of the linear acceleration sensors is determined. With the aid of a coordinates - transformation, it is then possible for the measured accelerations be converted into the actual acceleration.