Optimal Path Planning Method for IMU System-Level Calibration Based on Improved Dijkstra's Algorithm

作     者：Bai, Xuesong Wang, Lu Hu, Yuanbiao Li, Pingfei Zu, Yutong 

作者机构：Minist Nat Resources Key Lab Deep Geodrilling Technol Beijing 100083 Peoples R China China Univ Geosci Sch Engn & Technol Beijing 100083 Peoples R China 

出 版 物：《IEEE ACCESS》 (IEEE Access)

年 卷 期：2023年第11卷

页      面：11364-11376页

核心收录：

基　　金：National Natural Science Foundation of China Science and Technology Innovation Project of Xiong'an New Area [2022XAGG0500] 

主　　题：Calibration Gyroscopes Observability Kalman filters Accelerometers System-level design Path planning Calibration algorithm system-level calibration Dijkstra's algorithm 

摘      要：The calibration path of system-level calibration directly affects the incentive effect of the error term and thus the calibration accuracy. Currently, the planning of system-level calibration paths is predominantly designed based on personal experience, resulting in insufficient incentive for error terms, low calibration accuracy, and long calibration times. Therefore, this study proposes a system-level calibration optimal path planning method based on an improved Dijkstra s algorithm. First, the system-level calibration optimal path planning problem was modeled as a multi-fork regular root tree model, and the adaptability of Dijkstra s algorithm was improved. Second, a 30-dimensional Kalman filter model was designed for system-level calibration. Then, simulation experiments were conducted, and the results demonstrated that the calibration accuracy of the error term reached 90% within 330 s. Finally, a Micro-Electro-Mechanical system (MEMS) inertial sensor, model PA-IMU488B, was used for experimental verification, and the results were compared with the discrete calibration results. The results indicate that the bias and scale factor errors of the MEMS inertial sensor reached the target accuracy within 5 min. The optimal path planning method for system-level calibration proposed in this study is not dependent on a high-precision turntable, is applicable to sensors of different accuracies, and decreases calibration time while ensuring calibration accuracy.