Calibration of Inertial Measurement Unit Using Pendulum Motion

초록

MEMS gyros and accelerometers used in low-level IMU show great potential in terms of cost effectiveness provided that their error characteristics are fully calibrated. Instead of using the rate table as in conventional calibration process, this paper proposes a new method of gaining the reference calibration data from the natural motion of pendulum where the IMU to be calibrated is attached. This concept is validated with experimental data. The angle measurements match extremely well with the solution of the pendulum equation of motion. The calibration data computed using the regression method. The whole process is validated by comparing the measurement from the 6 sensor components with the ones reconstructed using the identified calibration data.