Open Access

ARTICLE

Design of Automatic Batch Calibration and Correction System for IMU

Lihua Zhu¹, Qifan Yun¹, Zhiqiang Wu^1,*, Cheire Cheng²

1 School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210000, China
2 Department of Electrical and Electronic Engineering, Colorado State University, Colorado, United States

* Corresponding Author: Zhiqiang Wu. Email:

Computers, Materials & Continua 2022, 71(1), 1489-1501. https://doi.org/10.32604/cmc.2022.022091

Received 27 July 2021; Accepted 09 September 2021; Issue published 03 November 2021

Abstract

Thanks to its light weight, low power consumption, and low price, the inertial measurement units (IMUs) have been widely used in civil and military applications such as autopilot, robotics, and tactical weapons. The calibration is an essential procedure before the IMU is put in use, which is generally used to estimate the error parameters such as the bias, installation error, scale factor of the IMU. Currently, the manual one-by-one calibration is still the mostly used manner, which is low in efficiency, time-consuming, and easy to introduce mis-operation. Aiming at this issue, this paper designs an automatic batch calibration method for a set of IMUs. The designed automatic calibration master controller can control the turntable and the data acquisition system at the same time. Each data acquisition front-end can complete data acquisition of eight IMUs one time. And various scenarios of experimental tests have been carried out to validate the proposed design, such as the multi-position tests, the rate tests and swaying tests. The results illustrate the reliability of each function module and the feasibility automatic batch calibration. Compared with the traditional calibration method, the proposed design can reduce errors caused by the manual calibration and greatly improve the efficiency of IMU calibration.

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Keywords

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