Abstract：Aimed at the problem that the traditional calibration platform of inertial device is expensive and bulky， a fully automatic simple calibration device is proposed. Based on the traditional “three-axis nesting” mode， the mechanical structure of the calibration table is designed. According to the mathematical relationship between the actual physical quantity and the output of the IMU sensor， the corresponding error model is established， and the error parameters are obtained by fitting to obtain the output of the IMU in the carrier coordinate system. The calibration results based on the six-digit calibration method will be used in the MTI-300 comparison experiment and the human walking positioning experiment， to access the calibration effect. Experimental results show that the simple calibration platform designed in this paper can effectively improve the measurement accuracy of the IMU， and obtain a relative low root mean square error below 3.5 compared with commercial IMU.
2020, Vol. 54 
