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Matthew Bottkol and Emilio Frazzoli. Renkoski, Benjamin Matthew Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics 2010-02-09T16:55:57Z 2010-02-09T16:55:57Z 2008 2008 http://hdl.handle.net/1721.1/51645 496819679 Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008. Includes bibliographical references (p. 91-92). The concept of carouseling an IMU is simulated in order to improve the accuracy of MEMS IMUs. Carouseling consists of slewing the IMU through a pre-determined trajectory that is selected based on inherent properties that lead to improved performance. MEMS devices typically have far more uncertainty than standard inertial measurement devices, yet are considerably less massive and require less power, so implementing this carouseling scheme could make the use of these lightweight systems possible even in high-accuracy situations, such as gyrocompassing. In gyrocompassing, the most significant benefit provided by the carouseling scheme is the reduction in the error contribution of gyroscope bias, as this error is almost completely eliminated. Additionally, it was found that although implementing the carouseling scheme required the addition of error states to account for the size effect, in many cases these error states may not be necessary. Overall, the carouseling of the MEMS IMUs was shown to be effective in reducing azimuth error covariance significantly. by Benjamin Matthew Renkoski. S.M. 97 p. eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Aeronautics and Astronautics. The effect of carouseling on MEMS IMU performance for gyrocompassing applications Effect of carouseling on Microelectromechanical system Inertial Measurement Unit performance for gyrocompassing applications Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="34a4d68f-f793-4d0b-8cf6-131116ec8e39"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>The effect of carouseling on MEMS IMU performance for gyrocompassing applications</Title> <Subtitle>Effect of carouseling on Microelectromechanical system Inertial Measurement Unit performance for gyrocompassing applications</Subtitle> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2008</PublicationDate> <Authors> <Author> <DisplayName>Renkoski, Benjamin Matthew</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Aeronautics and Astronautics.</Keyword> <Abstract>The concept of carouseling an IMU is simulated in order to improve the accuracy of MEMS IMUs. Carouseling consists of slewing the IMU through a pre-determined trajectory that is selected based on inherent properties that lead to improved performance. MEMS devices typically have far more uncertainty than standard inertial measurement devices, yet are considerably less massive and require less power, so implementing this carouseling scheme could make the use of these lightweight systems possible even in high-accuracy situations, such as gyrocompassing. In gyrocompassing, the most significant benefit provided by the carouseling scheme is the reduction in the error contribution of gyroscope bias, as this error is almost completely eliminated. Additionally, it was found that although implementing the carouseling scheme required the addition of error states to account for the size effect, in many cases these error states may not be necessary. Overall, the carouseling of the MEMS IMUs was shown to be effective in reducing azimuth error covariance significantly.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>