Error Characteristics and Compensation Methods of MIMU with Non-centroid Configurations

In order to meet the requirements of the small guided ammunition aerodynamic layout and the internal small space assembly requirements, this paper designs a hollow and non-centroid configurations Micro-Inertial Measurement Unit. The installation position of MEMS gyros and MEMS accelerometers are given in MIMU PCB. The error characteristics of the inertial sensor are analyzed and the error model of the sensor is constructed. With high-precision three-axis turret and centrifuge equipment, applying discrete calibration algorithm to calibrate the various coefficients of the error model. The performance of the MIMU is considerably improved by detailed calibration, including temperature compensation, nonlinear error compensation, cross-coupling error compensation and so on. Focus on the analysis of the influences of center distance error for the sensors output. Finally, MIMU is equipped with a small rocket for flight test, the test results show that the MIMU designed has a certain anti-overload capability, and meet the flight environment measurement requirements.