微型惯性测量组合标定技术

对微型惯性测量组合 (MIMU)的系统标定技术进行了研究 ,利用加速度计的静态输出 ,得出了初始安装角误差、零位偏差及标度因子的计算方法 ,详细介绍了各参数的测量原理及计算公式。从实际应用的角度出发 ,对加速度计零偏的实时计算方法、基座初始水平偏差的影响及横向灵敏度的影响进行了分析 ,得出了相应的数学模型及修正算法。在此基础上进行了一定距离姿态及位置测量试验 ,给出了试验结果。试验结果表明 ,位置测量精度可提高到 1～ 2 cm ;初始位置实时标定可得到与单独标定及预调整近似的结果

Calibration techniques for micro inertial measurement units

System calibration techniques are discussed for micro inertial measurement units (MIMU). The static outputs of the accelerometers were used to develop methods to analyze the initial errors of the installation angles, zero bias and scale factor. The measuring principles and calculation formulae are introduced in detail. Real time calculational methods are presented for zero bias, the influence of the horizontal deflection of the base and the influence of the transverse sensitivity. Experimental distance measurements of attitude and position showed that the position measurement accuracy can be improved by more than 3 fold with the installation angle error correction. The accuracy can also be improved to 1~2cm with the transverse sensitivity error compensation. After the real time calculation for the zero bias and the horizontal deflection of the base, the measurement accuracy is similar to the results with pre calibration of the zero bias and pre adjustment of the base.