Sensor information processing for calibration of inertial measurement units

The report presents the mathematical models of errors, taking into account the influence of the magnetic field on the outputs of fiber optic gyro and the influence of linear acceleration on the outputs of MEMS-based gyro triad, and an algorithm that allows correcting these effects. The research has been performed with the use of two-axis test bed and the sensors of magnetic field and linear acceleration. In addition to standard procedure of IMU calibration, the integration of measuring module with angular sensors is proposed and testing and calibration process is supposed to execute on two-axis bed setting quasi-harmonic modulation of angular velocity along two axes. Such law of motion provides observability of all required parameters of mathematical models of output inertial devices.