TY - GEN
T1 - Calibration of mems based inertial measurement unit using long short-Term memory network
AU - Wang, Jinkui
AU - Lou, Wenzhong
AU - Liu, Weitong
AU - Liu, Peng
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/4
Y1 - 2019/4
N2 - MEMS-based IMU performance is limited in some applications for its low accuracy, resulting from combine of many factors like orthogonal error, nonlinear scale factor, random drift, drift periodic error, etc. Calculating the main error matrix is one traditional solution, which can't express full error model of IMU. In this paper, MEMS based IMU's model has been developed, deep neural network was introduced to analyze the error model and the correction parameters were figured out. In the error model and calibration algorithm, output data of IMU are feed in Long Short-Term Memory Network(LSTM) with reference linear acceleration and angular rate, error character is delivered, and correction parameters are educed after training. Our experimental result on three-Axle turntable have proved the effectiveness of our algorithm.
AB - MEMS-based IMU performance is limited in some applications for its low accuracy, resulting from combine of many factors like orthogonal error, nonlinear scale factor, random drift, drift periodic error, etc. Calculating the main error matrix is one traditional solution, which can't express full error model of IMU. In this paper, MEMS based IMU's model has been developed, deep neural network was introduced to analyze the error model and the correction parameters were figured out. In the error model and calibration algorithm, output data of IMU are feed in Long Short-Term Memory Network(LSTM) with reference linear acceleration and angular rate, error character is delivered, and correction parameters are educed after training. Our experimental result on three-Axle turntable have proved the effectiveness of our algorithm.
KW - MEMS inertial measurement unit
KW - error calibration
KW - recurrent neural network
UR - http://www.scopus.com/inward/record.url?scp=85076694300&partnerID=8YFLogxK
U2 - 10.1109/NEMS.2019.8915598
DO - 10.1109/NEMS.2019.8915598
M3 - Conference contribution
AN - SCOPUS:85076694300
T3 - Proceedings of the 14th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2019
SP - 118
EP - 121
BT - Proceedings of the 14th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th Annual IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2019
Y2 - 11 April 2019 through 14 April 2019
ER -