An IMU static attitude angle calibration method based on total station

作者：Xiong, Xin Yan; Wei, Fei; Fu, Bin

来源：4th International Conference on Engineering Materials, Energy, Management and Control, MEMC 2014, 2014-06-21 To 2014-06-22.

DOI：10.4028/www.scientific.net/AMR.977.496

• Attitude angle
• Co-ordinate transformation
• Inertial measurement unit
• Magnetic compensation
• Nonmagnetics
• Potential errors
• Spatial coordinates
• Total station

This paper proposes a non-magnetic framework to calibrate the Inertial Measurement Unit(IMU) based on Total Station. The IMU consists of magnetometer, accelerator and gyroscope. The potential errors are analyzed and raw data of the IMU is preprocessed effectively. The IMU attitude mathematical models are constructed based on the collected spatial coordinate data, marked points, quaternion coordinate transformation, and geographical magnetic compensation. The causations which may affect the accuracy of experimental results are analyzed and technique supports are provided to calibrate the IMU dynamic attitude angle.

• 出版日期2014
• 单位哈尔滨工程大学