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Vol. 151, No. 4, April 2013, pp. 1-9




Fast Field Calibration of MEMS-based IMU for Quadrotor's Applications

1,2 J. F. ZHANG, 1,2 J. P. BAI, 1,2 J. B. WU, 1,2 Y. ZENG and 1,3 X. S. LAI

1 Laboratory of Aerial Robotics,

2 School of Aeronautics & Astronautics,

3 School of Automation,

University of Electronic Science and Technology of China, Chengdu 611731, China

Tel.: +86 187-8220-1448

E-mail: lar_uestc@163.com


Received: 31 January 2013   /Accepted: 18 April 2013   /Published: 30 April 2013

Digital Sensors and Sensor Sysstems


Abstract: This paper presents a method to calibrate the dominant errors of Micro Electrical Mechanical Systems (MEMS) based inertial measurement unit (IMU) for quadrotor's applications in field because the error coefficients of MEMS-based IMU are changing from switch-on to switch-on. Based on the optimal inputs criterion, biases and scale factor errors of tri-axial accelerometer and g-dependent biases and fixed biases of tri-axial gyro are selected and estimated in six positions that most excite the errors. To execute this method without auxiliary equipment, the position could be gotten through the special mechanical structure. A MEMS-based AHRS is used to demonstrate the effectiveness of the method, with the algorithm is achieved in a DSP. Allan variance is used to determine the time interval in each position and this calibration method can be completed in one minute. Results show that errors are reduced greatly.


Keywords: Fast field calibration, MEMS-based IMU, Quadrotor, Biases, Scale factor errors


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