INERTIAL MEASUREMENT UNIT CALIBRATION PROCEDURE FOR A REDUNDANT TETRAHEDRAL GYRO CONFIGURATION WITH WAVELET DENOISING DOI 10.5028/jatm.2012.04026111

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

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 plance 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 measurments unit, Fiber optic gyro, Wavelet, IMU tetrad, IMU calibration.

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