Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update

MA Jianghua; LIN Weixuan; WAN Meilin; WANG Dezhi

doi:10.11999/JEIT210006

Volume 44 Issue 2

Feb. 2022

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MA Jianghua, LIN Weixuan, WAN Meilin, WANG Dezhi. Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update[J]. Journal of Electronics & Information Technology, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006

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MA Jianghua, LIN Weixuan, WAN Meilin, WANG Dezhi. Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update[J]. Journal of Electronics & Information Technology, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006

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Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update

doi: 10.11999/JEIT210006

1.
School of Electronic Information and Engineering, Wuhan Technical College of Communication, Wuhan 430065, China
2.
Faculty of Physics and Electronic Science, Hubei University, Wuhan 430062, China

Funds: The National Natural Science Foundation of China (61704050)

Received Date: 2021-01-04
Rev Recd Date: 2021-07-19

Available Online: 2021-10-08

Publish Date: 2022-02-25

Abstract

Abstract

When updating body’s orientation by using Micro Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU), a precision turntable is needed and measurement errors are difficult to be estimated accurately, which cause high cost and large error. Based on the problem, both body’s attitude and gyroscope’s bias are estimated in field by a Kalman filter, an estimation method of measurement errors is proposed for improving orientation’s accuracy. Measurement errors for the optimal orientation’s accuracy are obtained by deducing the measurement errors’ mathematical model, and analyzing the relationship between orientation’s accuracy and the variations of measurement errors. By using a MEMS-IMU, the body’s orientation is measured when it keeps movement at a constant speed and in arbitrary trajectory for 5 minutes. Experimental results show the orientation after optimization is consistent with the referenced orientation, and pitch, roll and yaw during the last quiescent period deviate from the reference values only by 0.008°, 0.006° and 0.6° respectively.
- Autonomous positioning,
- Micro Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU),
- Orientation accuracy,
- Measurement errors

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References(19)

References

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