KR20120098321A - Apparatus for correction of imu and method thereof - Google Patents

Abstract

PURPOSE: A correcting apparatus of an inertia measurement apparatus and method thereof are provided to improve the correction accuracy of an inertia measurement apparatus by eliminating the correction error of an inertia measurement apparatus. CONSTITUTION: A correcting apparatus(10) of an inertia measurement apparatus is composed of an inertia measurement apparatus(100), and a correction unit(200). The inertia measurement apparatus computes the acceleration of a carrier and an angular speed. The correcting unit gradually repeats a multi-position test based on the computed acceleration speed and the angular speed. [Reference numerals] (100) Inertia measurement apparatus; (200) Correction unit

Description

Calibration device of inertial measuring instrument and its method {APPARATUS FOR CORRECTION OF IMU AND METHOD THEREOF}

The present specification relates to a calibration apparatus and a method thereof, and more particularly, to a calibration apparatus and a method of calibrating an inertial measurement instrument using a gyro simulation output.

In general, an inertial navigation device is a device that calculates attitude, velocity, and position by integrating angular velocity and acceleration measured through an inertial measurement unit (IMU) and provides navigation information in real time. In this inertial navigation system, the error of the inertial measurement device causes a navigation error, and therefore, a precise calibration technique of the inertial measurement device is required. In addition, the calibration technique of the inertial measurement apparatus is a technique for estimating errors included in an accelerometer and a gyro.

There is a signal processing method using a Kalman filter as a calibration technique of the inertial measuring instrument.

SUMMARY OF THE INVENTION An object of the present invention is to provide an inertial measuring device calibrating apparatus and a method for eliminating an inertial measuring device calibrating error caused by a random error of a gyro, an insensitive area, or the like.

Another object of the present invention is to calibrate a gyro output using an accelerometer measurement value, to calculate a correction coefficient based on the simulated gyro output, and to apply the calculated correction coefficient and the calibration device of the inertial measuring instrument and To provide that method.

The calibration method of the inertial measurement device according to the present invention for achieving the above object, the step of calculating the acceleration and the angular velocity of the carrier; And sequentially repeating the multi-position test A and the multi-position test B based on the calculated acceleration and angular velocity.

As an example related to the present invention, the repeating step may include: when the multi-position test A is performed, checking whether the carrier is stationary; Estimating a DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurer based on the acceleration when the vehicle is in the stopped state; Simulating a gyro output based on the estimated DCM; And calculating a correction factor based on the simulated gyro output.

As an example related to the present invention, estimating the DCM may include modeling the DCM as a determinant having a rate table misalignment and the inertial measurement instrument mounting misalignment as independent variables; And estimating the DCM through a least squares estimation technique using the acceleration as a measured value.

As an example related to the present invention, in the simulating of the gyro output, the rotational angular velocity of the earth on the navigation coordinate system may be transformed into the fuselage coordinate system of the inertial measurement unit based on the estimated DCM.

As an example related to the present invention, the calculating of the correction factor may include calculating a speed based on the simulated gyro output through a previously stored navigation algorithm; And calculating a correction factor based on the calculated speed and least squares estimation technique.

As an example related to the present invention, the calibration coefficient may include an accelerometer bias, an accelerometer conversion factor error, an accelerometer misalignment error, a gyro conversion factor error, and a gyro misalignment error.

As an example related to the present invention, as a result of the checking, the vehicle may further include calculating a speed through a pre-stored navigation algorithm based on a gyro output output from the inertial measurement unit.

As an example related to the present invention, the performing of the repetition may include: converting the acceleration and the angular velocity into a speed and a posture through a previously stored navigation algorithm when performing the multi-position test B; And estimating a gyro bias based on the transformed speed, attitude, and least squares estimation technique.

In addition, the calibration method of the inertial measurement device according to the present invention for achieving the above object, calculating the acceleration and the angular velocity of the carrier; Estimating a DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurement unit based on the acceleration; Simulating a gyro output based on the estimated DCM; And calculating a calibration coefficient based on the simulated gyro output.

In addition, the calibration device of the inertial measuring device according to the present invention for achieving the above object, the inertial measuring device for calculating the acceleration and the angular velocity of the carrier; And a calibration unit configured to repeatedly perform the multi-position test A and the multi-position test B based on the acceleration and the angular velocity calculated from the inertial measurement unit.

As an example related to the present invention, the inertial measurement unit may include an accelerometer that detects a linear acceleration of the carrier and outputs the acceleration based on the detected linear acceleration; And a gyro for detecting the rotation amount of the carrier and outputting the angular velocity based on the detected rotation amount of the carrier.

As an example related to the present invention, when performing the multi-position test A, the calibration unit estimates DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurement unit based on the acceleration, when the vehicle is stationary. A gyro output can be simulated based on the estimated DCM, and a correction factor can be calculated based on the simulated gyro output.

As an example related to the present invention, the calibrator may model DCM using a determinant having a rate table misalignment and an inertial measurement instrument mounting misalignment as independent variables, and use the acceleration as a measured value to perform the least square estimation method. DCM can be estimated.

As an example related to the present invention, the calibration unit may convert the rotational angular velocity of the earth on the navigation coordinate system into the fuselage coordinate system of the inertial measurement unit based on the estimated DCM.

As an example related to the present invention, the calibration unit may calculate a speed based on the simulated gyro output through a pre-stored navigation algorithm, and calculate a calibration coefficient based on the calculated speed and least squares estimation technique. .

As an example related to the present invention, the calibration coefficient may include an accelerometer bias, an accelerometer conversion factor error, an accelerometer misalignment error, a gyro conversion factor error, and a gyro misalignment error.

As an example related to the present invention, when performing the multi-position test A, the calibrator may calculate a speed through a previously stored navigation algorithm based on a gyro output output from the inertial measurement unit when the vehicle is not stationary. Can be.

As an example related to the present invention, when performing the multi-position test B, the calibration unit converts the acceleration and angular velocity into a speed and a posture through a pre-stored navigation algorithm, and converts the converted speed, posture, and least squares. Gyro bias can be estimated based on the estimation technique.

In addition, the calibration device of the inertial measuring device according to the present invention for achieving the above object, the inertial measuring device for calculating the acceleration and the angular velocity of the carrier; And a calibration unit for estimating DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurement unit, simulating a gyro output based on the estimated DCM, and calculating a calibration coefficient based on the simulated gyro output. can do.

The calibration device and method of the inertial measurement device according to the embodiment of the present invention can improve the calibration accuracy of the inertial measurement device by eliminating the inertia measuring device calibration error caused by a random error of the gyro and an insensitive area.

In addition, the calibration apparatus and method of the inertial measurement apparatus according to the embodiment of the present invention, by using the accelerometer measurement value to simulate the gyro output, calculate the calibration coefficients based on the simulated gyro output, the calculated correction coefficient By applying, it is possible to eliminate the calibration error of the inertial measurement.

1 is a block diagram showing the configuration of a calibration device for an inertial measurement device according to an embodiment of the present invention.
2 illustrates an example of a multi-position test sequence for compensating an accelerometer bias, an accelerometer conversion factor error, an accelerometer misalignment error, a gyro conversion error, and a gyro misalignment error according to an embodiment of the present invention. It is also.
3 is a diagram illustrating an example of a multi-position test sequence for compensating gyro bias.
4 is a flowchart illustrating a calibration method of an inertial measurement device according to an exemplary embodiment of the present invention.
5 is a diagram showing a speed error relationship between the prior art and the inventor.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

1 is a block diagram showing a configuration of a calibration device for an inertial measurement device according to an embodiment of the present invention. As shown in FIG. 1, the calibration device 10 for an inertial measurement device includes an inertial measurement device 100 and a calibration unit 200. ). Not all components of the calibration device 10 of the inertial measurement device shown in FIG. 1 are essential components, and the calibration device 10 of the inertial measurement device may be implemented by more components than those shown in FIG. 1. In addition, the calibration device 10 of the inertial measurement unit may be implemented by fewer components.

In addition, the calibration unit 200 included in the calibration device of the inertial measurement unit of the present invention may be configured in one module form to be included in the inertial measurement unit 100.

The inertial measurement unit 100 includes an accelerometer and a gyroscope (or gyroscope). At this time, the accelerometer and gyroscope, one for each axis (for example, X-axis, Y-axis, Z-axis) is installed.

In addition, the accelerometer included in the inertial measurement unit 100 detects a linear acceleration of a vehicle and outputs an acceleration based on the detected linear acceleration. The gyroscope included in the inertial measurement unit 100 detects a rotation amount of the carrier and outputs an angular velocity based on the detected rotation amount of the carrier.

The correction unit (or correction unit) 200 compensates (or corrects) an error value of the inertial measurement unit 100 based on the estimated value.

That is, the calibration unit 200, the multi-position test A and multi-position test for estimating the gyro bias to compensate for the accelerometer bias, accelerometer conversion coefficient error, accelerometer misalignment error, gyro conversion error and gyro misalignment error By repeatedly performing B sequentially, a convergence value of a sensor (eg, accelerometer and gyro) error included in the inertial measurement unit 100 is obtained. 2 and 3 are views defining the attitude of the inertial measurement unit 100 in the multi-position test A and B, respectively. That is, FIG. 2 is an example of a multi-position test A for compensating accelerometer bias, accelerometer conversion factor error, accelerometer misalignment error, gyro conversion error and gyro misalignment error among the error elements, and FIG. 3 is a gyro bias. This is an example of a multi-position test B to compensate for

In addition, the calibrator 200 confirms whether the carrier is in a stopped state (or a rate table is in a stopped state) with respect to the multi-position test A, and when the carrier is in a stopped state, By using (or setting) the acceleration output from the accelerometer included in the inertial measurement unit 100 as a measured value, a directional cosine matrix (DCM) between the navigation coordinate system and the body coordinate system of the inertial measurement unit 100 is used. Estimate. That is, the calibration unit 200 models the DCM as a determinant having the rate table misalignment and the inertia measuring unit 100 unalignment as independent variables, and outputs the accelerometer included in the inertial measuring unit 100. The DCM is estimated by using a least square estimation method using the acceleration as a measurement value.

The calibration unit 200 simulates a gyro output by converting the earth rotational angular velocity on the navigation coordinate system into the fuselage coordinate system of the inertial measurement unit 100 using the estimated DCM.

The calibration unit 200 calculates a calibration coefficient using the simulated gyro output. That is, the calibration unit 200 calculates the speed using a navigation algorithm stored in advance based on the simulated gyro output. In addition, the calibration unit 200, using the calculated speed and least squares estimation technique, the calibration coefficient including the accelerometer bias, accelerometer conversion coefficient error, accelerometer misalignment error, gyro conversion coefficient error and gyro misalignment error To calculate.

As described above, since the output of the accelerometer used in the DCM estimation is compensated for bias, conversion coefficient errors, and misalignment errors through calibration, the gyro output simulation using the accelerometer output is a very accurate value. Therefore, by applying a simulated gyro output instead of the actual gyro output that contains irregular noise and calibration error, it is possible to improve the calibration accuracy.

In addition, the calibrator 200 checks whether the carrier is in a stationary state with respect to the multi-position test A, and outputs a gyro output from the inertial measurement unit 100 when the carrier is not in a stationary state. Based on the pre-stored navigation algorithm, the speed is calculated.

In addition, the calibrator 200 compensates the errors estimated from the multi-position test A with respect to the multi-position test B, and then estimates a gyro bias using a least square estimation method. . That is, the calibration unit 200 converts the acceleration and the angular velocity output from the inertial measurement unit 100 into a speed and attitude through a pre-stored navigation algorithm, and the observability for estimating a sensor error from the converted speed and attitude. In order to secure the accuracy, the gyro bias is estimated by performing the multi-position test B using the rate table. As described above, the calibration unit 200 estimates the gyro bias with respect to the multi-position test B based on the converted speed, attitude, and least squares estimation technique.

4 is a flowchart illustrating a calibration method of an inertial measurement device according to an exemplary embodiment of the present invention.

)한다. 또한, 상기 관성 측정기(100)에 포함된 자이로스코프는, 상기 운반체의 회전량을 검출하고, 상기 검출한 운반체의 회전량을 근거로 각속도를 출력(예를 들어,

)한다(S110).First, the inertial measurement unit 100 calculates and outputs the acceleration and the angular velocity of the vehicle using the accelerometer and the gyroscope, respectively. That is, the accelerometer included in the inertial measurement unit 100 detects the linear acceleration of the carrier, and outputs the acceleration based on the detected linear acceleration (for example,

)do. In addition, the gyroscope included in the inertial measurement unit 100 detects the rotation amount of the carrier and outputs the angular velocity based on the detected rotation amount of the carrier (for example,

(S110).

Then, the calibration unit 200, multi-position test A for compensating the accelerometer bias, accelerometer conversion coefficient error, accelerometer misalignment error, gyro conversion error and gyro misalignment error, and multi-position test for estimating gyro bias By repeatedly performing B sequentially, a convergence value of a sensor (eg, accelerometer and gyroscope) error included in the inertial measurement unit 100 is obtained.

That is, the calibration unit 200 confirms whether the carrier is in a stopped state (or the rate table is in a stopped state) with respect to the multi-position test A (S120).

As a result of the check, when the carrier is in a stopped state, the calibrator 200 uses (or sets) the acceleration output from the inertial measurement unit 100 as a measured value, and the navigation coordinate system and the inertial measurement unit 100. Estimate DCM between the fuselage coordinate system. That is, the calibration unit 200 models the DCM as a determinant having the rate table misalignment and the inertia measuring unit 100 unalignment as independent variables, and outputs the accelerometer included in the inertial measuring unit 100. Using the acceleration as a measure, the DCM is estimated by a least squares estimation technique.

For example, the calibration unit 200 estimates the DCM through the equations described below. In general, the gyro true output value in the stationary state is the earth rotational angular velocity value distributed according to the attitude of the inertial measurement unit 100. Therefore, the relationship between the rotational angular velocity of the earth distributed to the navigation coordinate system and the fuselage coordinate system is expressed by Equation 1 below.

는, 동체 좌표계의 지구 자전 각속도이고,

은 항법 좌표계와 관성 측정기(100) 동체 좌표계(B)의 DCM이고,

은 항법 좌표계의 지구 자전 각속도이다. 또한,

는 레이트 테이블(T)과 동체 좌표계(B)의 DCM이고,

은 2축 레이트 테이블의 각운동 자세를 나타내는 DCM이고,

은 항법 좌표계와 레이트 테이블 초기 자세 사이의 DCM이다. 이때, 상기

,

및

은 각각 아래 수학식 2 내지 수학식 4와 같다.here,

Is the global rotational angular velocity of the fuselage coordinate system,

Is the DCM of the navigation coordinate system and the inertial measurement unit 100 fuselage coordinate system (B),

Is the rotational angular velocity of the earth in the navigation coordinate system. Also,

Is the DCM of the rate table (T) and the fuselage coordinate system (B),

Is DCM representing the angular posture of the biaxial rate table,

Is the DCM between the navigation coordinate system and the rate table initial pose. At this time,

,

And

Are the same as Equations 2 to 4 below.

The value not determined in Equation 1 is M _X , M _Y , M _Z , T _X , T _Y , T _Z , and the misalignment angle except for T _Z may be measured as follows using an accelerometer. In the multi-position test A, the accelerometer output may be modeled as in Equation 5 below.

Substituting Equation 2 to Equation 4 into Equation 5, substituting each position of the rate table in each stationary state, and arranging using a least squares estimation method, Equations 6 and 7 are obtained. .

는, 세트(j)(j=I~IV)와 각위치(k)(k=1~3)의 i축 가속도계 출력의 평균값이다. 상기 수학식 6을 통해 비정렬각 M_X, M_Y, M_Z, T_X, T_Y을 매우 높은 정밀도로 구할 수 있다. 이는, 가속도계의 바이어스, 환산계수, 비정렬 값이 보상된 가속도계 출력을 통해 측정된 비정렬 값이기 때문이다. 레이트 테이블의 헤딩축(Z축) 비정렬인 T_Z는 자이로 바이어스 추정 시퀀스 식으로부터 유도할 수 있다. 즉, 자이로 바이어스 추정식을 다시 쓰면 다음 수학식과 같다.here,

Is the average value of the i-axis accelerometer output of the set j (j = I to IV) and the angular position k (k = 1 to 3). Through Equation 6, the misalignment angles M _X , M _Y , M _Z , T _X , and T _Y can be obtained with very high precision. This is because the bias, conversion coefficient, and misalignment value of the accelerometer are the misalignment values measured through the compensated accelerometer output. T _{Z, which} is the head axis (Z-axis) misalignment of the rate table, can be derived from the gyro bias estimation sequence equation. That is, the gyro bias estimation equation is rewritten as the following equation.

Accordingly, the misalignment angle between the navigation coordinate system and the fuselage coordinate system can be obtained from Equations 8 and 9 as shown in Equation 10 below.

Since the T _Z value is a value obtained by using a gyro output, the estimation accuracy is degraded in the case of an intermediate gyro having a large random walk. Therefore, since the T _Z value is a fixed value after installing the rate table, it is preferable to estimate it using an advanced gyro (S130).

Thereafter, the calibration unit 200 coordinates the gyro output by converting the earth rotational angular velocity on the navigation coordinate system into the fuselage coordinate system of the inertial measurement unit 100 based on the estimated DCM.

)을 얻는다.For example, when the calibration unit 200 substitutes Equation 2 to Equation 4, Equation 6, Equation 7, and Equation 10 into Equation 1, Equation 11 and Similarly, the Earth's rotational angular velocity estimate projected in the fuselage coordinate system (

Get)

Here, W _X , W _Y , and W _Z are expected output values of the stationary gyro (S140).

Thereafter, the calibration unit 200 calculates a speed using a navigation algorithm stored in advance based on the simulated gyro output (S150).

Thereafter, the calibration unit 200 calculates a calibration coefficient based on the calculated speed and least squares estimation technique.

That is, the calibration unit 200 may include the accelerometer bias, the accelerometer conversion factor error, the accelerometer misalignment error, the gyro conversion factor error, and the gyro misalignment error using the calculated speed and least squares estimation technique. The coefficient is calculated (or estimated) (S160).

In addition, the calibration unit 200 is output from the inertial measurement unit 100 when the confirmation result (the confirmation result in the step S120), when the carrier is not in a stopped state, that is, when the carrier is in a rotating state. The speed is calculated using the previously stored navigation algorithm based on the gyro output.

That is, the calibration unit 200, the check result (check result in the step S120), when the carrier is in a rotating state (or when the carrier is not in a stationary state), from the inertial measurement unit 100 The speed is calculated using the previously stored navigation algorithm based on the output gyro output (S170).

Subsequently, the calibration unit 200 converts the acceleration and the angular velocity output from the inertial measurement unit 100 to the speed and the attitude using the previously stored navigation algorithm for the multi-position test B (S180).

Thereafter, the calibration unit 200 estimates a gyro bias based on the converted speed, attitude, and least squares estimation technique (S190).

As such, the calibration unit 200 repeatedly performs steps S120 to S190 to obtain an error convergence value of the inertial measurement unit 100.

5 is a diagram showing the results of applying the simulated gyro output proposed in the present invention, which is compared with the conventional method (method of using the gyro output output from the inertial measurement device during stop and rotation in the multi-position test A) through analysis. . In the conventional method (black), a large speed error occurs due to irregular noise, whereas the size of the speed error is significantly reduced when the simulation gyro output proposed in the present invention is applied (red). Therefore, by applying the simulation gyro output proposed in the present invention can improve the calibration accuracy of the inertial measuring instrument.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

10: calibration device of inertial measurement unit 100: inertial measurement unit
200: correction part

Claims (19)

Calculating acceleration and angular velocity of the vehicle; And
And repeating the multi-position test A and the multi-position test B sequentially based on the calculated acceleration and angular velocity. The method of claim 1, wherein performing the repetition is repeated.
When performing the multi-position test A, checking whether the vehicle is stationary;
Estimating a DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurer based on the acceleration when the vehicle is in the stopped state;
Simulating a gyro output based on the estimated DCM; And
And calculating a correction coefficient based on the simulated gyro output. The method of claim 2, wherein estimating the DCM,
Modeling DCM as a determinant having a rate table misalignment and the inertia meter mounting misalignment as independent variables; And
Estimating the DCM through a least squares estimation technique using the acceleration as a measured value. The method of claim 2, wherein simulating the gyro output comprises:
And a coordinate transformation of the rotational angular velocity of the earth on the navigation coordinate system into the fuselage coordinate system of the inertial measurement system based on the estimated DCM. The method of claim 2, wherein the calculating of the correction coefficients comprises:
Calculating a speed based on the simulated gyro output through a prestored navigation algorithm; And
And calculating a correction factor based on the calculated velocity and least squares estimation technique. The method of claim 5, wherein the correction coefficient is,
A method for calibrating an inertial measurement device comprising an accelerometer bias, an accelerometer conversion factor error, an accelerometer misalignment error, a gyro conversion error, and a gyro misalignment error. The method of claim 2,
And if the vehicle is not in a stationary state, calculating the speed through a previously stored navigation algorithm based on a gyro output output from the inertial measurement unit. The method of claim 1, wherein performing the repetition is repeated.
When performing the multi-position test B, converting the acceleration and angular velocity into speed and attitude through a pre-stored navigation algorithm; And
Estimating a gyro bias based on the converted velocity, attitude, and least squares estimation technique. Calculating acceleration and angular velocity of the vehicle;
Estimating a DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurement unit based on the acceleration;
Simulating a gyro output based on the estimated DCM; And
And calculating a correction coefficient based on the simulated gyro output. An inertial measurement device for calculating acceleration and angular velocity of the vehicle; And
And a calibration unit configured to repeatedly perform the multi-position test A and the multi-position test B based on the acceleration and the angular velocity calculated from the inertia measuring device. The method of claim 10, wherein the inertial measurement unit,
An accelerometer which detects linear acceleration of the carrier and outputs the acceleration based on the detected linear acceleration; And
And a gyro for detecting the rotation amount of the carrier and outputting the angular velocity based on the detected rotation amount of the carrier. The method of claim 10, wherein the correction unit,
When performing the multi-position test A, if the vehicle is stationary, estimate the DCM between the navigation coordinate system and the fuselage coordinate system of the inertial measurement unit based on the acceleration, simulate the gyro output based on the estimated DCM, And a calibration coefficient is calculated based on the simulated gyro output. The method of claim 12, wherein the correction unit,
A DCM is modeled using a determinant having a rate table misalignment and an inertial meter mounted misalignment as independent variables, and the DCM is estimated through a least squares estimation technique using the acceleration as a measured value. Device. The method of claim 12, wherein the correction unit,
And a coordinate transformation of the earth rotational angular velocity on the navigation coordinate system to the fuselage coordinate system of the inertial measurement unit based on the estimated DCM. The method of claim 12, wherein the correction unit,
And a calibration coefficient is calculated based on the simulated gyro output using a pre-stored navigation algorithm, and a calibration coefficient is calculated based on the calculated speed and least squares estimation technique. The method of claim 15, wherein the correction coefficient,
And an accelerometer bias, an accelerometer conversion factor error, an accelerometer misalignment error, a gyro conversion error, and a gyro misalignment error. The method of claim 10, wherein the correction unit,
When performing the multi-position test A, if the carrier is not in a stationary state, the device for calibrating the inertial measurement device, characterized in that for calculating the speed through a pre-stored navigation algorithm based on the gyro output from the inertial measurement. The method of claim 10, wherein the correction unit,
When performing the multi-position test B, the acceleration and the angular velocity is converted into a speed and a posture through a pre-stored navigation algorithm, and the gyro bias is estimated based on the converted speed, the posture, and the least squares estimation technique. Calibration device of inertial measuring instrument. An inertial measurement device for calculating acceleration and angular velocity of the vehicle; And
A calibration unit for estimating DCM between the navigation coordinate system and the body coordinate system of the inertial measurement unit, simulating a gyro output based on the estimated DCM, and calculating a calibration coefficient based on the simulated gyro output. Calibration device for inertial measurement, characterized in that.

Images