ABSTRACT
In this work, we describe a novel and feasible technology for the self-alignment of Micro Electro Mechanical System (MEMS) Inertial Measurement Units (IMUs) on swing bases. To the best of the authors’ knowledge, this is the first report on the joint use of the Rotation Modulation Technique (RMT), Inertial Space Gravity Based Alignment (ISGBA) and factor graph for self-alignment in MEMS IMUs. RMT is adopted to suppress the impact of inertial sensors bias. Hence ISGBA allows small alignment errors when used with RMT under swing condition. As a result, a factor graph is used to further optimize the state estimation and solve for attitude angles through a message-passing algorithm. Analysis of the experimental data showed that the standard deviations of the pitch, roll, and heading solved using the proposed method were 0.011°, 0.008°, and 1.057°, respectively. These results validate the effectiveness of the proposed approach.
