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

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.

Keywords

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