Inertial Measurement Unit Calibration Procedure for a Redundant Tetrahedral Gyro Configuration with Wavelet Denoising

Oliveira, Élcio Jeronimo de; Leite Filho, Waldemar de Castro; Fonseca, Ijar Milagre da

doi:10.5028/jatm.2012.04026111

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

Cho, S. Y., Park, C. G., 2005, "A calibration technique for a redundant imucontaining low-grade inertial sensors", ETRI Journal, Vol. 27, No. 4, pp. 418-425.
Daubechies, I., 1992, "Tenlectures on wavelets", Philadelphia, SIAM.
El-Sheimy, N., Nassar, S., 2004, "Wavelet de-noising for IMU alignment", IEEE A&E Systems Magazine, pp. 32-39.
Kim, S., Kim, Y., Park, C., 2007, "Failure diagnosis of skew-configured aircraft inertial sensors using wavelet decomposition", IET Control Theory and Applications, Vol. 1, pp. 1390-1397.
Mallat, S. G., 1989, "A theory of multiresolution signal decomposition: the wavelet representation", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 11, pp. 674-693.
Shim, D. S., Yang, C. K, 2004, "Geometric FDI based on SVD for redundant inertial sensor systems", 5th Asian Control Conference, Vol. 2, pp. 1094-1100.
Silva, J. F.F., 2010, "Procedimentos para ensaios de caracterização de giro de fibra óptica", Technical Report ASE-MT-001-2010, Instituto de Aeronáutica e Espaço, IAE, Brasil.
Strang, G., Nguyen, T., 1996, "Wavelets and filter banks", Wellesley, MA, Cambridge Press.

Publication Dates

Publication in this collection
Apr-Jun 2012

History

Received
23 Dec 2011
Accepted
16 Apr 2012

This is an Open Access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

[1] Cho, S. Y., Park, C. G., 2005, "A calibration technique for a redundant imucontaining low-grade inertial sensors", ETRI Journal, Vol. 27, No. 4, pp. 418-425.

[2] Daubechies, I., 1992, "Tenlectures on wavelets", Philadelphia, SIAM.

[3] El-Sheimy, N., Nassar, S., 2004, "Wavelet de-noising for IMU alignment", IEEE A&E Systems Magazine, pp. 32-39.

[4] Kim, S., Kim, Y., Park, C., 2007, "Failure diagnosis of skew-configured aircraft inertial sensors using wavelet decomposition", IET Control Theory and Applications, Vol. 1, pp. 1390-1397.

[5] Mallat, S. G., 1989, "A theory of multiresolution signal decomposition: the wavelet representation", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 11, pp. 674-693.

[6] Shim, D. S., Yang, C. K, 2004, "Geometric FDI based on SVD for redundant inertial sensor systems", 5th Asian Control Conference, Vol. 2, pp. 1094-1100.

[7] Silva, J. F.F., 2010, "Procedimentos para ensaios de caracterização de giro de fibra óptica", Technical Report ASE-MT-001-2010, Instituto de Aeronáutica e Espaço, IAE, Brasil.

[8] Strang, G., Nguyen, T., 1996, "Wavelets and filter banks", Wellesley, MA, Cambridge Press.

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