{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T17:48:33Z","timestamp":1772300913847,"version":"3.50.1"},"reference-count":20,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,10,24]],"date-time":"2022-10-24T00:00:00Z","timestamp":1666569600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Natural Science Foundation of China","award":["61803015"],"award-info":[{"award-number":["61803015"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the field of ultra high accuracy inertial measurement unit (IMU), pendulous integrating gyroscopic accelerometer (PIGA) has become a research hot spot due to its high-end performance. However, PIGA is sensitive to angular velocity, and the calibration process of PIGA-based IMU will be very complicated, which makes online self-calibration difficult to implement. To solve the above problems, we proposed an online self-calibration method utilizing angular velocity observation. The main contributions of this study are twofold: (1) An error analysis of PIGA is conducted in this paper, and the error model has also been simplified to suit the self-calibration model. (2) An improved online self-calibration method utilizing angular observation based on a simplified PIGA error model is proposed in this study. Experimental results show that the self-calibration method proposed in this study can improve the PIGA online calibration accuracy effectively (with the accuracy within 0.02 m\/s\/pulse), which can improve the dynamic accuracy of the PIGA.<\/jats:p>","DOI":"10.3390\/s22218136","type":"journal-article","created":{"date-parts":[[2022,10,24]],"date-time":"2022-10-24T10:09:23Z","timestamp":1666606163000},"page":"8136","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["An Improved Online Self-Calibration Method Utilizing Angular Velocity Observation for Ultra High Accuracy PIGA-Based IMU"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1936-0105","authenticated-orcid":false,"given":"Yongfeng","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuling","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gongliu","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaojun","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China"},{"name":"Beijing Institute of Aerospace Control Devices, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongwu","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2898","DOI":"10.1109\/TIM.2018.2869238","article-title":"A New Method for Calibrating Nonlinear Coefficients of PIGA on Linear Vibrator","volume":"68","author":"Ren","year":"2019","journal-title":"IEEE Trans. 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