Characterization of MEMS based Inertial Measurement Unit

Ailneni, S and Kashyap, SK and Shantha Kumar, N and David Livingstone, D and Aishwarya, N and Varghese, N and Karthik, KV (2019) Characterization of MEMS based Inertial Measurement Unit. In: 2019 International Conference on Range Technology (ICORT), 15-17 Feb, 2019, Balasore, India.

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Abstract

Inertial system consisting of 10 DoF MEMS IMU has been brought to deploy on the stores of high performance fighter aircraft to estimate the separation trajectory of released stores from the aircraft. The IMU calibration has been carried out as it is prerequisite for accurate estimation of stores separation trajectory. This paper presents calibration methodology and test procedure followed to calibrate IMU. The intent is to find out stochastic and deterministic errors in tri-Axial rate gyroscopes and tri-Axial accelerometers of a MEMS IMU. For this, rate table tests are conducted to calibrate gyroscopes and tumble tests are carried out to calibrate accelerometers. In this paper, the sensor axis misalignment factors in IMU is obtained from gaussnewton optimization algorithm. Thus obtained calibration constants are further used in an EKF based fusion algorithm. A 6-state a 9-state Extended Kalman filters are presented to estimate Euler angles and position respectively. Effect of calibration on Euler angles and position estimation is clearly brought out.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Micro Electro Mechanical Systems (MEMS), Inertial measurement Unit (IMU), Extended Kalman Filter (EKF), Allan Variance, Misalignment factors, Gyroscopes, Accelerometers
Subjects: AERONAUTICS > Aircraft Stability and Control
MATHEMATICAL AND COMPUTER SCIENCES > Computer Programming and Software
MATHEMATICAL AND COMPUTER SCIENCES > Theoretical Mathematics
Depositing User: Smt Bhagya Rekha KA
Date Deposited: 13 May 2022 09:56
Last Modified: 13 May 2022 09:56
URI: http://nal-ir.nal.res.in/id/eprint/13538

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