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Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion
The MEMS array-based inertial navigation module (M-IMU) reduces the measurement singularities of MEMS sensors by fusing multiple data processing to improve its navigation performance. However, there are still existing random and fixed errors in M-IMU navigation. The calibration method calibrates the...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9415369/ https://www.ncbi.nlm.nih.gov/pubmed/36014135 http://dx.doi.org/10.3390/mi13081214 |
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author | Liang, Siyuan Dong, Xiaochao Guo, Tianyu Zhao, Feng Zhang, Yuhua |
author_facet | Liang, Siyuan Dong, Xiaochao Guo, Tianyu Zhao, Feng Zhang, Yuhua |
author_sort | Liang, Siyuan |
collection | PubMed |
description | The MEMS array-based inertial navigation module (M-IMU) reduces the measurement singularities of MEMS sensors by fusing multiple data processing to improve its navigation performance. However, there are still existing random and fixed errors in M-IMU navigation. The calibration method calibrates the fixed error parameters of M-IMU to further improve navigation accuracy. In this paper, we propose a low-cost and efficient calibration method to effectively estimate the fixed error parameters of M-IMU. Firstly, we manually rotate the M-IMU in multiple sets of different attitudes (stationary), then use the LM-calibration algorithm to optimize the cost function of the corresponding sensors in different intervals of the stationary-dynamic filter separation to obtain the fixed error parameters of MEMS, and finally, the global fixed error parameters of the M-IMU are calibrated by adaptive support fusion of the individual MEMS fixed error parameters based on the benchmark conversion. A comparison of the MEMS calibrated separately by the fusion-calibration algorithm and the LM-calibration algorithm verified that the calibrated MEMS array improved the measurement accuracy by about 10 db and reduced the dispersion of the output data by about 8 db compared to the individual MEMS in a multi-dimensional test environment, indicating the robustness and feasibility of the fusion calibration algorithm. |
format | Online Article Text |
id | pubmed-9415369 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-94153692022-08-27 Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion Liang, Siyuan Dong, Xiaochao Guo, Tianyu Zhao, Feng Zhang, Yuhua Micromachines (Basel) Article The MEMS array-based inertial navigation module (M-IMU) reduces the measurement singularities of MEMS sensors by fusing multiple data processing to improve its navigation performance. However, there are still existing random and fixed errors in M-IMU navigation. The calibration method calibrates the fixed error parameters of M-IMU to further improve navigation accuracy. In this paper, we propose a low-cost and efficient calibration method to effectively estimate the fixed error parameters of M-IMU. Firstly, we manually rotate the M-IMU in multiple sets of different attitudes (stationary), then use the LM-calibration algorithm to optimize the cost function of the corresponding sensors in different intervals of the stationary-dynamic filter separation to obtain the fixed error parameters of MEMS, and finally, the global fixed error parameters of the M-IMU are calibrated by adaptive support fusion of the individual MEMS fixed error parameters based on the benchmark conversion. A comparison of the MEMS calibrated separately by the fusion-calibration algorithm and the LM-calibration algorithm verified that the calibrated MEMS array improved the measurement accuracy by about 10 db and reduced the dispersion of the output data by about 8 db compared to the individual MEMS in a multi-dimensional test environment, indicating the robustness and feasibility of the fusion calibration algorithm. MDPI 2022-07-29 /pmc/articles/PMC9415369/ /pubmed/36014135 http://dx.doi.org/10.3390/mi13081214 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Liang, Siyuan Dong, Xiaochao Guo, Tianyu Zhao, Feng Zhang, Yuhua Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title | Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title_full | Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title_fullStr | Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title_full_unstemmed | Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title_short | Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion |
title_sort | peripheral-free calibration method for redundant imus based on array-based consumer-grade mems information fusion |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9415369/ https://www.ncbi.nlm.nih.gov/pubmed/36014135 http://dx.doi.org/10.3390/mi13081214 |
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