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Offline Calibration for MEMS Gyroscope G-sensitivity Error Coefficients Based on the Newton Iteration and Least Square Methods

Published online by Cambridge University Press:  11 October 2017

Li Xing
(Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Zhi Xiong*
(Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Jian-ye Liu
(Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Wei Luo
(Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Ya-zhou Yue
(Flight Automatic Control Research Institute, Xi'an, China)


With the improvement of the bias instability of Micro-Electromechanical Systems (MEMS) gyroscopes, the g-sensitivity error is gradually becoming one of the more important factors that affects the dynamic accuracy of a MEMS gyroscope. Hence there is a need for correcting the g-sensitivity error. However, the traditional calibration of g-sensitivity error uses a centrifuge. The calibration conditions are harsh, the process is complex and the cost is relatively high. In this paper, a fast and simple method of g-sensitivity error calibration for MEMS gyroscopes is proposed. With respect to the bias and random noise of a MEMS gyroscope, the g-sensitivity error magnitude is relatively small and it is simultaneously coupled with the Earth's rotation rate. Therefore, in order to correct the g-sensitivity error, this work models the calibration for g-sensitivity error coefficients, designs an (8+N)-position calibration scheme, and then proposes a fitting method for g-sensitivity error coefficients based on the Newton iteration and least squares methods. Multi-group calibration experiments designed on a MEMS Inertial Measurement Unit (MEMS IMU) product demonstrate that the proposed method can calibrate g-sensitivity error coefficients and correct the g-sensitivity error effectively and simply.

Research Article
Copyright © The Royal Institute of Navigation 2017 

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