Research on the Calibration Method of Micro Inertial Measurement Unit for Engineering Application

Table 3

Output errors of the angular rates.

Input axis		Output error of the angular rate (°/s)
		x-axis	y-axis	z-axis
x	Uncompensated	0.004~0.288	−7.305~−7.185	−3.474~2.825
	Proposed method	−0.142~0.144	−0.005~0.034	−0.081~0.039
	Traditional method	−0.142~0.143	−0.0048~0.034	−0.081~0.041
y	Uncompensated	−3.445~3.738	−0.364~0.4684	−4.829~4.105
	Proposed method	−0.005~0.014	−0.15~0.162	0.007~0.069
	Traditional method	−0.005~0.015	−0.15~0.161	0.007~0.071
z	Uncompensated	−37.773~37.959	−1.174~1.607	−17.449~16.48
	Proposed method	−0.149~0.218	−0.214~0.358	−2.954~4.838
	Traditional method	−0.149~0.218	−0.214~0.358	−2.950~4.835