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IOP PUBLISHING MEASUREMENT SCIENCE AND TECHNOLOGY
Meas. Sci. Technol. 18 (2007) 1897–1907 doi:10.1088/0957-0233/18/7/016
A new multi-position calibration method
for MEMS inertial navigation systems
Z F Syed, P Aggarwal, C Goodall, X Niu and N El-Sheimy
Department of Geomatics Engineering, University of Calgary, Calgary, Canada
Received 13 December 2006, in final form 6 March 2007
Published 15 May 2007
Online at stacks.iop.org/MST/18/1897
Abstract
The Global Positioning System (GPS) is a worldwide navigation system that
requires a clear line of sight to the orbiting satellites. For land vehicle
navigation, a clear line of sight cannot be maintained all the time as the
vehicle can travel through tunnels, under bridges, forest canopies or within
urban canyons. In such situations, the augmentation of GPS with other
systems is necessary for continuous navigation. Inertial sensors can
determine the motion of a body with respect to an inertial frame of
reference. Traditionally, inertial systems are bulky, expensive and controlled
by government regulations. Micro-electro mechanical systems (MEMS)
inertial sensors are compact, small, inexpensive and most importantly, not
controlled by governmental agencies due to their large error characteristics.
Consequently, these sensors are the perfect candidate for integrated civilian
navigation applications with GPS. However, these sensors need to be
calibrated to remove the major part of the deterministic sensor errors before
they can be used to accurately and reliably bridge GPS signal gaps. A new
multi-position calibration method was designed for MEMS of high to
medium quality. The method does not require special aligned mounting and
has been adapted to compensate for the primary sensor errors, including the
important scale factor and non-orthogonality errors
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