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The Limits of In-Run Calibration of MEMS Inertial Sensors and Sensor Arrays

Martin, H; Groves, P; Newman, M; (2016) The Limits of In-Run Calibration of MEMS Inertial Sensors and Sensor Arrays. NAVIGATION: Journal of the Institute of Navigation , 63 (2) pp. 127-143. 10.1002/navi.135. Green open access

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Abstract

MEMS accelerometers and gyroscope triads now cost less than $10, potentially opening up many new applications. However, these sensors require calibration prior to navigation use. This paper determines the maximum tolerable sensor errors for in-run calibration techniques using a basic Kalman filter by developing criteria for filter failure and performing Monte Carlo simulations for a range of different sensor specifications, and both car and UAV motion-profiles. Gyroscope bias is found to be the most significant with the maximum tolerable value of its SD varying between 0.75 and 2.6 deg/s depending on the value of the specification of the other sensor sources. The paper shows that pre-calibration and smart array techniques could potentially enable in-run calibration to be applied to lower-quality sensors. However, the estimation of scale-factor cross-coupling and gyroscope g-dependent errors could potentially be critical. Armed with this knowledge, designers can avoid both unnecessary design complexity and computational load of over-engineering and the poor navigation performance of inadequate filters.

Type: Article
Title: The Limits of In-Run Calibration of MEMS Inertial Sensors and Sensor Arrays
Open access status: An open access version is available from UCL Discovery
DOI: 10.1002/navi.135
Publisher version: http://dx.doi.org/10.1002/navi.135
Additional information: © 2016 The Authors. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
Keywords: Science & Technology, Technology, Engineering, Aerospace, Remote Sensing, Telecommunications, Engineering
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1503318
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