A new multi-position calibration method for MEMS inertial navigation systems精品.pdfVIP

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