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

Authors

  • Élcio Jeronimo de Oliveira Instituto de Aeronáutica e Espaço São José dos Campos/SP – Brazil
  • Waldemar de Castro Leite Filho Instituto de Aeronáutica e Espaço São José dos Campos/SP – Brazil
  • Ijar Milagre da Fonseca Instituto Nacional de Pesquisa Espacial São José dos Campos/SP - Brazil

Keywords:

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

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.

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Published

2012-09-13

Issue

Section

Original Papers