Research on Improving Accuracy of SLAM Based on IMU Online Calibration
SLAM algorithm based on multi-sensor fusion is one of the key technologies for mobile robots to realize accurate positioning and navigation.However,the systematic errors of the inertial measurement unit have a large impact on the mapping and navigation accuracy of SLAM algorithm.Besides,the systematic errors of IMU change with the working time.To solve this problem,this paper proposed an easy-to-implement online calibration method for IMU.The calibration method firstly established the error model of accelerometer and gyroscope in IMU.Secondly,the IMU attitude adjustment was realized by 2D gimbal.Third-ly,the error parameter identification of the accelerometer was realized by reading the static value of accelerometer sensor.Finally,the error parameter identification of the gyroscope was realized with the calibrated accelerometer output data and the rotation ma-trix calculated by the gyroscope.In order to verify the effect of the above calibration algorithm,this paper carried out SLAM map-ping experiments based on the IMU with and without calibration,respectively.The experimental results show that the accuracy of the mapping is better based on calibrated IMU.
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