MIMU and Its Application in Mobile Robot's Self-localization
This paper introduces principal of micro inertial measurement unit (MIMU), designs a arrange form of MIMU. According to lots of experiment data, the gyroscope's drift and accelerometer's warp are analyzed, and provides an AR(1) model. After Kalman filtering, the simulation results show that the bias of MIMU reduces to one tenth of the original, and prove this methodological feasible.