| Citation: | GAO Shuang, ZHANG Ruoyu. Rapid calibration method of MEMS accelerometer based on adaptive GA[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(10): 1982-1989. doi: 10.13700/j.bh.1001-5965.2019.0040(in Chinese)
|
MEMS inertial measurement unit (MIMU) calibration is one of an important research direction in low-precision inertial navigation. Traditional calibration method has complex operating procedures and depends most on turntable accuracy. In order to overcome the problem of MIMU calibration in batch production, this paper presents a rapid micro-electro-mechanical system (MEMS) accelerometer calibration method based on adaptive genetic algorithm (GA), which converts calibration task to parameter optimization. Firstly, the principle of norm observation is adopted to establish the objective optimization function. Secondly, the optimal calibration scheme is designed on the basis of system observability analysis. Finally, calibration parameters can be optimized through adaptive GA with global search capability. Experimental results demonstrate that, compared with Newton's iteration, the proposed method can improve calibration accuracy by 1-3 orders of magnitude and increase operational speed by 61%. After the proposed calibration, the horizontal attitude error is less than 0.1° and its accuracy can reach the same order of magnitude as that in traditional method, which verifies its superiority and practicability.
| [1] |
尹文.MIMU微惯性测量单元误差建模与补偿技术[D].长沙: 国防科学技术大学, 2007: 1-2. http://cdmd.cnki.com.cn/Article/CDMD-90002-2008097420.htm
YIN W.Error modeling and compensation of micro inertial measurement unit[D].Changsha: National University of Defense Technology, 2007: 1-2(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-90002-2008097420.htm
|
| [2] |
王如胜.MEMS陀螺捷联惯导系统标定方法研究[D].哈尔滨: 哈尔滨工业大学, 2015: 1-6. http://cdmd.cnki.com.cn/Article/CDMD-10213-1015982191.htm
WANG R S.Research on the calibration method of MEMS gyro strapdown inertial navigation system[D].Harbin: Harbin Institute of Technology, 2015: 1-6(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10213-1015982191.htm
|
| [3] |
LÖTTERS J C, SCHIPPER J, VELTINK P H, et al.Procedure for in-use calibration of triaxial accelerometers in medical applications[J].Journal of Applied Behavior Analysis, 1998, 68(1-3):221-228. https://www.sciencedirect.com/science/article/abs/pii/S0924424798000491
|
| [4] |
FROSIO I, PEDERSINI F, BORGHESE N A.Autocalibration of MEMS accelerometers[J].IEEE Transactions on Instrumentation and Measurement, 2009, 58(6):2034-2041. doi: 10.1109/TIM.2008.2006137
|
| [5] |
WON S P, GOLNARAGHI F.A triaxial accelerometer calibration method using a mathematical model[J].IEEE Transactions on Instrumentation and Measurement, 2010, 59(8):2144-2153. doi: 10.1109/TIM.2009.2031849
|
| [6] |
FONG W T, ONG S K, NEE A Y C.Methods for in-field user calibration of an inertial measurement unit without external equipment[J].Measurement Science & Technology, 2008, 19(8):817-822. doi: 10.1088-0957-0233-19-8-085202/
|
| [7] |
戴邵武, 王克红, 戴洪德.基于PSO算法的加速度计快速标定方法[J].电光与控制, 2014, 21(12):57-60. doi: 10.3969/j.issn.1671-637X.2014.12.013
DAI S W, WANG K H, DAI H D.A rapid calibration method for accelerometer based on PSO algorithm[J].Elctronics Optics & Control, 2014, 21(12):57-60(in Chinese). doi: 10.3969/j.issn.1671-637X.2014.12.013
|
| [8] |
杨管金子, 李建辰, 黄海.基于遗传算法的加速度计免转台标定方法[J].中国惯性技术学报, 2017, 25(1):119-123. http://d.old.wanfangdata.com.cn/Periodical/zggxjsxb201701024
YANG G J Z, LI J C, HUANG H.Non-turntable calibration method for three-accelerometer based on genetic algorithm[J].Journal of Chinese Inertial Technology, 2017, 25(1):119-123(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/zggxjsxb201701024
|
| [9] |
张红良.陆用高精度激光陀螺捷联惯导系统误差参数估计方法研究[D].长沙: 国防科学技术大学, 2010: 39-40. http://cdmd.cnki.com.cn/article/cdmd-90002-1011073997.htm
ZHANG H L.Research on error parameter estimation of land high-precision ring laser gyroscope strapdown inertial navigation system[D].Changsha: National University of Defense Technology, 2010: 39-40(in Chinese). http://cdmd.cnki.com.cn/article/cdmd-90002-1011073997.htm
|
| [10] |
葛继科, 邱玉辉, 吴春明, 等.遗传算法研究综述[J].计算机应用研究, 2008, 25(10):2911-2916. doi: 10.3969/j.issn.1001-3695.2008.10.008
GE J K, QIU Y H, WU C M, et al.Summary of genetic algorithms research[J].Application Research of Computers, 2008, 25(10):2911-2916(in Chinese). doi: 10.3969/j.issn.1001-3695.2008.10.008
|
| [11] |
DU Y, FANG J, MIAO C.Frequency-domain system identification of an unmanned helicopter based on an adaptive genetic algorithm[J].IEEE Transactions on Industrial Electronics, 2013, 61(2):870-881. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=871eb1c221c236a48425a0e815445a1c
|
| [12] |
MATIAS T, SECO R, BELCHIOR C.Automatic extraction of the fuzzy control system by a hierarchical genetic algorithm[J].Engineering Applications of Artificial Intelligence, 2014, 29(3):70-78. https://www.sciencedirect.com/science/article/abs/pii/S0952197613002467
|
| [13] |
SU L M, HOU C Z, DAI Z J, et al.Application of improved genetic algorithm in network fault diagnosis expert system[J].Journal of Beijing Institute of Technology, 2003, 12(3):225-229. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=bjlgdxxb-e200303001
|
| [14] |
管小艳.实数编码下遗传算法的改进及其应用[D].重庆: 重庆大学, 2012: 4-5. http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=Y2154681
GUAN X Y.Improvement and application of genetic algorithm under real number coding[D].Chongqing: Chongqing University, 2012: 4-5(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=degree&id=Y2154681
|
| [15] |
张思才, 张方晓.一种遗传算法适应度函数的改进方法[J].计算机应用与软件, 2006, 23(2):108-110. doi: 10.3969/j.issn.1000-386X.2006.02.044
ZHANG S C, ZHANG F X.A modified method to fitness function of genetic algorithms[J].Computer Applications and Software, 2006, 23(2):108-110(in Chinese). doi: 10.3969/j.issn.1000-386X.2006.02.044
|
| [16] |
SRINIVAS M, PATNAIK L M.Adaptive probabilities of crossover and mutation in genetic algorithms[J].IEEE Transactions on Systems, Man, and Cybernetics, 1994, 24(4):656-667. doi: 10.1109/21.286385
|
| [17] |
卢兆兴, 张金生, 王仕成, 等.基于自适应遗传算法的三轴磁强计误差校正方法[J].传感技术学报, 2014, 27(3):331-336. doi: 10.3969/j.issn.1004-1699.2014.03.011
LU Z X, ZHANG J S, WANG S C, et al.Calibration for tri-axial magnetometer based on adaptive genetic algorithm[J].Chinese Journal of Sensors and Actuators, 2014, 27(3):331-336(in Chinese). doi: 10.3969/j.issn.1004-1699.2014.03.011
|
| [18] |
丁智坚.三轴惯性/地磁组合测量系统标定方法研究[D].长沙: 国防科学技术大学, 2012: 36-40. http://cdmd.cnki.com.cn/Article/CDMD-90002-1014047568.htm
DING Z J.Research on the calibration method of inertial/geomagnetic integrated measurement system[D].Changsha: National University of Defense Technology, 2012: 36-40(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-90002-1014047568.htm
|
Figures(6) / Tables(4)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
