一种基于MEMS的微惯性测量单元标定补偿方法

孙宏伟; 房建成; 盛蔚

一种基于MEMS的微惯性测量单元标定补偿方法

北京航空航天大学仪器科学与光电工程学院, 北京 100083

基金项目: 国防基础科研资助项目(D2120060013);新世纪人才资助项目(NCET-04-0162)

详细信息

作者简介:
孙宏伟(1982－),男,山东青州人,博士生,hongweisun@aspe.buaa.edu.cn.

中图分类号: V 249.3
计量
- 文章访问数: 2679
- HTML全文浏览量: 149
- PDF下载量: 1474
- 被引次数: 0
出版历程
- 收稿日期: 2007-04-06
- 网络出版日期: 2008-04-30

Calibration-compensation method for micro inertial measurement unit based on MEMS

School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 根据微机电系统MEMS(Micro Electronic Mechanical System)惯性器件的特点,在建立微惯性测量单元MIMU(Micro Inertial Measurement Unit)角速度及加速度误差数学模型的基础上,提出一种适用于MIMU的、仅采用单轴速率转台(无指北装置)的"动态翻转6位置"快速标定补偿方法.与传统标定方法相比,标定补偿方法简单便捷,可以一次确定出MIMU的45个误差系数,辨识误差系数精度高,尤其适用于低精度捷联惯性测量单元.通过理论分析、推导以及大量的实验验证,标定补偿方法可以将MIMU的精度提高2~3个数量级.
- 微惯性测量单元(MIMU) /
- 标定补偿 /
- 误差模型 /
- 动态翻转6位置
Abstract: According to angular velocity and accelerate error mathematical models of micro inertial measure unit (MIMU), a kind of quick calibration-compensation method called dynamic overturn 6 positions was proposed based on special features of micro electronic mechanical system (MEMS) inertial devices, which only needed one single axis velocity rolling plate (without referring to the north). Comparing with traditional calibration-compensation method, this method was simple, convenient and could identify forty-five error coefficients of MIMU. The precision of error coefficients identified was high, and this method was especially fit for low precision strapdown inertial measure unit. Through theoretical analyses, calculations and experiments, the result shows that this calibration-compensation method could improve the MIMU accuracy by 2~3 magnitudes.
- micro inertial measurement unit (MIMU) /
- calibration-compensation /
- error model /
- dynamic overturn 6 positions

HTML全文

参考文献(1)

[1] 陈北鸥,孙文胜,张桂宏,等. 捷联组合(设备无定向)六位置测试标定[J]. 导弹与航天运载技术, 2001, (3):23-27 Chen Beiou, Sun Wensheng, Zhang Guihong, et al. Strapdown unit(without orientation) six-position test calibration[J]. Missiles and Space Vehicles, 2001, (3):23-27(in Chinese) [2] 任大海,顾启泰,毛刚,等. 微型惯性测量组合标定技术[J]. 清华大学学报, 2001, 41(8):21-24 Ren Dahai, Gu Qitai, Mao Gang, et al. Calibration techniques for micro inertial measurement units[J]. Journal of Tsinghua University, 2001, 41(8):21-24(in Chinese) [3] Kim A, Golnaraghif M F. Initial calibration of an inertial measurement unit using an optical position tracking system Position Location and Navigation Symposium. Canada:, 2004:96-101 [4] 王立文,国琳娜. 惯性测量装置标定技术研究[J]. 鱼雷技术, 2003, 11(1):17-22 Wang Liwen, Guo Linna. Calibration technique study of inertial measurement unit[J]. Torpedo Technology, 2003, 11(1):17-22(in Chinese) [5] Seong Yun Cho. Calibration of a redundant IMU . AIAA-2004-5123, 2004 [6] Nebot E, Whyte H D. Initial calibration and alignment of low-cost inertial navigation units for land vehicle applications[J]. Robotic Systems, 1999, 16(2):81-92 [7] Nassar S. Improving the inertial navigation system(INS) error model for INS and INS/DGPS applications . UCGE Reports No.20183, 2003 [8] Park Minha. Error analysis and stochastic modeling of MEMS based inertial sensors for land vehicle navigation applications . ALBERTA:Department of Geomatics Engineering, Caligary, 2004 [9] Hou Haiying. Modeling inertial sensors errors using allan variance . ALBERTA:Department of Geomatics Engineering, Caligary, 2004 [10] E-ISBN:0-7381-1430-8, 1999, IEEE Standard Specification Format Guide and Test Procedure for Linear, Single-Axis, Nongyroscopic Accelerometers [S]

施引文献

资源附件(0)

访问统计