Abstract:
The aim of this paper was to present a calibration procedure applied to an inertial measurement unit composed of a triad of accelerometers and four gyros in a tetrad configuration. The procedure has taken into account a technique based on least-square methods and wavelet denoising to perform the best estimate of the sensor axis misalignments. The wavelet analysis takes place in order to remove undesirable high frequency components via multi-resolution signal decomposition analysis applied gyro signals. Equations for the least-square methods and wavelets analysis are presented, and the procedure is experimentally verified.
Keywords:
Inertial measurements unit; Fiber optic gyro; Wavelet; IMU tetrad; IMU calibration
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REFERENCES
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Publication Dates
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Publication in this collection
Apr-Jun 2012
History
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Received
23 Dec 2011 -
Accepted
16 Apr 2012