IEEE - Aerospace and Electronic Systems - March 2023 - 20
Feature Article:
DOI. No. 10.1109/MAES.2022.3232728
Calibration Method of MEMS Gyroscopes Using a
Robot Manipulator
Angelo Espinoza Valles , Samara National Research University,
443086 Samara, Russia
Victor Romero Alva
Lima 15314, Peru
Igor Belokonov
, Universidad de Ciencias y Humanidades,
, Samara National Research University,
443086 Samara, Russia
INTRODUCTION
Orientation determination and angular motion control are traditional
tasks solved during the operation of spacecraft. To
solve these problems on small-sized spacecraft, which
include nanosatellites, inertial measurement units (IMU)
based on microelectromechanical systems (MEMS) are often
used [1]. MEMS inertial sensors are widely used due to their
compactness, low cost, and low power consumption. However,
MEMS sensors are measuring instruments of medium
and low accuracy, as a result of which systematic errors
appear during their operation. There are many methods of
laboratory calibration ofMEMS sensors, in which it is necessary
to carry out measurements with high accuracy at different
orientations and dynamics ofrotational motion [2].
One of the possible solutions to this problem is the use
of a robot manipulator proposed in this article. Recently,
the use of industrial robot manipulators has increased due
to their flexibility and high production requirements in
such applications as welding, painting, assembly, packaging,
or operations under different conditions [3]. To show
that, many universities, in their science and engineering
departments, have robotic equipment as part of their laboratories
[4], [5], [6]. In this sense, the use of robot manipulators
provides added value by using them as calibrating
equipment, and thus not having the need to acquire
Authors' current address: Angelo Espinoza Valles and Igor
Belokonov are with Samara National Research University,
443086 Samara, Russia (e-mail: esalvator24@gmail.com;
ibelokonov@mail.ru). Victor Romero Alva is with the Universidad
de Ciencias y Humanidades, Lima 15314, Peru
(e-mail: vromero@uch.edu.pe).
Manuscript received 19 July 2022, revised 26 October
2022; accepted 19 December 2022, and ready for
publication 29 December 2022.
Review handled by Jason Gross.
0885-8985/22/$26.00 ß 2022 IEEE
20
specific equipment or calibration services, which are generally
expensive [7].
The presented work is devoted to the method of calibration
andtestingona robotmanipulator to eliminate systematic
errors ofcommercial MEMS gyroscopes and its experimental
https://orcid.org/0000-0002-2027-125X
https://orcid.org/0000-0002-2027-125X
https://orcid.org/0000-0003-3347-6526
https://orcid.org/0000-0002-5486-8820
https://orcid.org/0000-0002-5486-8820
IEEE - Aerospace and Electronic Systems - March 2023
Table of Contents for the Digital Edition of IEEE - Aerospace and Electronic Systems - March 2023
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