一种微惯性测量单元标定补偿方法

在介绍微惯性测量单元组成与结构的基础上,根据MEMS惯性器件的输出特性,建立了微惯性测量单元中加速度计和陀螺仪的数学标定模型,提出并推导了一种适用于微惯性测量单元的标定方法,该方法可以得到微惯性测量单元中惯性传感器的零位、标度因数、安装误差系数及g值敏感项等33个参数;然后,具体介绍了通过加速度计重力场静态翻滚试验和陀螺仪恒角速率试验对MIMU中参数标定的方法和步骤,并对实验室自研的MIMU进行了标定;最后利用得到的标定参数对测试结果进行了误差分析与补偿;实验结果表明,该方法使MIMU的测量精度提高了1～2个数量级,能够满足姿态解算及导航计算的精度要求。

A Calibration-Compensation Method for Micro Inertial Measurement Unit

Based on the introduction of the composition and structure of micro inertial measurement units, a new calibrating method for MIMU is proposed and deduced according to the output characteristics of MEMS inertial components after the mathematical calibration model of accelerometers and gyroscopes was established. With this method, 33 parameters including zero bias, scale factor, installation error coefficient and g value sensitive item for inertial sensor are calibrated. Then, through accelerometer gravity field static rollover test and gyroscope constant angle rate test, the calibration method and process for MIMU are introduced in detail. In the meantime, the MIMU designed in laboratory is calibrated. Finally, the error analysis and compensation of the test results are made based on the calibration parameter. The result shows that this calibration-compensation method could improve the MIMU accuracy by 1~2 magnitudes, which can meet the accuracy requirement of attitude algorithm and navigation calculation.