Experimental calibration method for redundant inertial measurement unit
US11215475B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 7, 2020 |
| Grant date | Jan 4, 2022 |
| Priority date | — |
| Expiry date | Sep 7, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C25/005
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The disclosure provides an experimental calibration method of a redundant inertial measurement unit including, step (1), establishing an installation angle model using a cone descriptive scheme, and obtaining a relationship of an angular speed of a carrier and an angular speed measured by each gyroscope, step (2), establishing a standard calibration model of the redundant inertial measurement unit based on a relationship between a sensor coordinate system and a carrier coordinate system, step (3), establishing a state equation and a measurement equation of a filter, step (4), performing a row amplification of measurement amounts based on the measurement equation established in step (3), and obtaining an amplificated measurement equation for improving observability, and step (5), obtaining a Jacobi matrix and a Hessian matrix based on the amplificated measurement equation, and estimating error parameters by an extended Kalman filtering algorithm based on a second-order Taylor expansion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.