Microelectromechanical systems’(MEMS)inertial measurement unit(IMU)is widely used in many scenarios for its small size,low weight,and low-power consumptions.However,it possesses relatively low positioning accuracy co...Microelectromechanical systems’(MEMS)inertial measurement unit(IMU)is widely used in many scenarios for its small size,low weight,and low-power consumptions.However,it possesses relatively low positioning accuracy compared with other high-grade IMUs,as errors accumulate quickly over time.This paper mainly focuses on the error characteristics of the gyro part of MEMS IMU by analyzing different kinds of error parameters.As there is no published standard for MEMS gyro error characterization,three dominant error parameters are selected and investigated,namely,scale factor,in-run bias stability,and angular random walk.In addition,Allan variance analysis is deployed as an important part of the scheme with relative results presented in this paper.Not only is theoretical analysis presented,but experimental verification is also carried out correspondingly with an ADIS16490 MEMS IMU.By comparison,we find that the results of in-run bias stability exceed the given features by up to ten times,while the rest of the results agree quite well with the given features.Possible reasons for the exceeding part are given.Calibration testing results not only provide concrete characterization for MEMS gyro errors,but also enhance the importance of overall calibration of MEMS IMU before use.展开更多
文摘Microelectromechanical systems’(MEMS)inertial measurement unit(IMU)is widely used in many scenarios for its small size,low weight,and low-power consumptions.However,it possesses relatively low positioning accuracy compared with other high-grade IMUs,as errors accumulate quickly over time.This paper mainly focuses on the error characteristics of the gyro part of MEMS IMU by analyzing different kinds of error parameters.As there is no published standard for MEMS gyro error characterization,three dominant error parameters are selected and investigated,namely,scale factor,in-run bias stability,and angular random walk.In addition,Allan variance analysis is deployed as an important part of the scheme with relative results presented in this paper.Not only is theoretical analysis presented,but experimental verification is also carried out correspondingly with an ADIS16490 MEMS IMU.By comparison,we find that the results of in-run bias stability exceed the given features by up to ten times,while the rest of the results agree quite well with the given features.Possible reasons for the exceeding part are given.Calibration testing results not only provide concrete characterization for MEMS gyro errors,but also enhance the importance of overall calibration of MEMS IMU before use.
