Inertial reference unit

About: Inertial reference unit is a research topic. Over the lifetime, 1306 publications have been published within this topic receiving 22068 citations. The topic is also known as: IRU.

Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

Abstract: In the last years there has been increasing interest on Inertial Measurement Units (IMUs) in several fields, because they can provide a measurement of the orientation, velocity, and acceleration at low cost with high performance. The main reason of the low cost is the possibility to find inertial sensors, as accelerometers, gyroscopes and magnetometers, based on Micro-Electro-Mechanical Systems (MEMS) made by silicon, with further advantages of small dimensions and mass production from the main semiconductor suppliers. In this paper, we present the development of the ultra miniaturized wireless IMU, WB-4 (Waseda Bioinstrumentation number 4), with a 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer. Additionally, we illustrate, together with results, the algorithms used for the data filtering and calibration, with particular emphasis on a new methodology for the online calibration of the digital magnetometer.

Testing of the Possibilities of Using IMUs with Different Types of Movements

Abstract: Inertial navigation system (INS) is a self-contained navigation technique. Its main purpose is to determinate the position and the trajectory of the objects movement in space. This technique is well represented not only as a supplementary method (GPS/INS integrated system) but as an autonomous system for navigation of vehicles and pedestrians, also. The aim of this paper is to design a test for low-cost inertial measurement units. The test results give us information about accuracy, which determine the possible use in indoor navigation or other applications. There are described some methods for processing the data obtained by inertial measurement units, which remove noise and improve accuracy of position and orientation.

Calibration of Inertial Sensors

Abstract: : The calibration of accelerometers, angular rate sensors, and inertial measurement units (IMU) increases the accuracy of their measurements. For artillery rounds and most rockets, measurements are acquired while the body is spinning. By the comparison of the sensor output to known input, calibration is accomplished. Calibration requires a model of the sensor. The model represents the measurement process. Model selection, calibration equipment, and data selection affect the usefulness of a calibration for a given mission. Calibration is model fitting for a specific mission or class of missions.

Study on Optimized Coefficients and Error of Sculling Algorithm

Abstract: Traditional sculling algorithms make use of incremental output of gyros and accelerometers to design algorithms, when they are applied to fiber-optical gyro (FOG) strap down inertial system (SINS), whose gyros output angular rate signal, we should simulate incremental signals by angular rate, which not only increases design difficulty but also reduce calculation accuracy. In view of this, an improved sculling algorithm was proposed, which made use of angular rate/specific force signal directly, and the error formula was derived in the condition of sculling input. Theoretical deduction and simulation results indicate: precision of improved algorithms are far superior to that of traditional ones.

Adaptive robust damping of divergent oscillations in updatable inertial systems

Abstract: The functioning of an inertial navigation system (MS) is based on the modeling of the Schuler pendulum (1923) by a "gyro-accelerometer" (G-A) system. For such a system, a simplified structure of one channel is shown. This structure ensures the invariance of the modeled vertical with respect to the motion of the accelerometer base. If, however, the initial errors are unknown, the system will oscillate about the true local vertical; such oscillations are described by a differential equation.