Hardware design and system error analysis of low cost multi-IMU calibration equipment
In response to the high calibration cost issue of low-cost IMU,this article proposes a batch calibration method for 16 IMU using 3D printing and servo motors to produce low-cost single axis turntables and regular hexahedra.Collect raw static data in experiments without external environmental interference,and calibrate the IMU's zero bias error,scale factor error,and installation angle error(accelerometer).This method effectively improves the static accuracy of multi-IMU,and can improve performance by 0.157％to 47.415％for IMU of different constitutions.The auxiliary experiments of calibration equipment constructed through 3D printing and servo motors show that this design can greatly reduce the calibration cost of multi-IMU,improve calibration efficiency,and ensure the accuracy of calibration,providing the possibility for large-scale calibration of low-cost IMU.
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