MEMS传感器的惯性测量模块的设计与初始校准

设计了一种基于微机电系统(MEMS)传感器的惯性测量模块,它包括三轴加速度计、三轴陀螺和三轴磁阻传感器。这种惯性测量模块具有体积小、功耗低、成本低的优点,可以方便地用在微小机器人定位系统以及空中机器人控制系统中。详细分析了模块的误差来源,提出了模块中三轴加速度计的非正交误差模型。并运用基于Newton迭代的方法实现了一种自动初始校准算法。实验结果表明:这种自动初始校准算法可以有效地消除该模块的固定偏差、比例误差和非正交误差。

Design and calibration for an inertial measurement unit using MEMS sensors

The design of 3-D inertial measurement unit(IMU) is presented,which consists of(3-D) accelerometers,3-D gyroscopes and 3-D magnetic sensors.It has characteristics with very small size,low power consumption and inexpensive,and it can be applied in the location system of micro robot and the control system of aerial robot control easily.The error sources of this IMU and the the non-orthogonal error model are analysed.The automatic initial calibration based on Newton's method is implemented.The experiments show the calibration can reduces the offset error,scaling error and non-orthogonal error efficiently.