温度对IMU微机械陀螺仪零偏影响及标定补偿

围绕对变温环境IMU中微机械三轴陀螺仪的零偏值误差进行补偿,由于零偏值程的非线性趋势,常规线性拟合方法无法精确进行补偿。首先通过实验和资料分析得到影响零偏值的各个因素,并推导出零偏的模型。为对零偏值进行精度补偿,提出线性拟合法和分段插值法。在温度-25～＋40℃采用线性方法和分段拟合方法分别补偿,通过两种方法补偿结果对比得出,分段拟合方法的精度比线性拟合方法的精度在x、y、z轴分别提高0.1053°/s、0.2574°/s、0.2339°/s,从而选择分段插值方法进行补偿,补偿结果比较理想。

Impact of temperature on zero bias of IMU MEMS gyroscope and its calibration compensation

The paper focuses on the compensation the bias error of three-axis MEMS gyroscope about the environmental temperature IMU.For the bias value is nonlinear,conventional linear regression method can’t compensate exactly.First,we get all kinds of factors of impacting on bias value and derivate the model of the bias to compensate the bias value exactly,then propose sub-linear fitting and interpolation.The piecewise linear methods and segment fitting method are used to compensate between-25~+40 ℃.Comparing two methods of compensation by the results we got,the accuracy of segment fitting method is higher than the accuracy of the piecewise linear methods in the axis of x,y,z 0.105 3°/s,0.257 4°/s,0.233 9°/s.Therefore,the Segment fitting method is chonsen to compensate,and the result is correct.