惯性测量单元全自动简易标定台设计

针对传统惯性器件标定台价格昂贵且体积庞大的问题，该文提出了一种全自动简易标定平台.以传统“三轴嵌套”模式为基础，设计了标定台的机械结构；考虑惯性传感器中的误差因素，建立了相应的线性误差模型，通过拟合载体坐标系下的输出和IMU传感器的输出获取误差参数，得到IMU在载体坐标系下的输出；以MPU9250芯片为基础，根据六位置标定法，得出芯片中陀螺仪与加速度计的标定结果.将标定后的MPU9250与高精度的MTI-300进行了对比分析，并结合人体行走定位实验，检验了标定效果.结果表明：该文设计的简易标定台能够有效提高IMU的测量精度，与商用系统相比整个系统欧拉角测量误差均方根降低至3.5以下.

Fully automatic calibration table design for inertial measurement unit

Aimed at the problem that the traditional calibration platform of inertial device is expensive and bulky， a fully automatic simple calibration device is proposed. Based on the traditional “three-axis nesting” mode， the mechanical structure of the calibration table is designed. According to the mathematical relationship between the actual physical quantity and the output of the IMU sensor， the corresponding error model is established， and the error parameters are obtained by fitting to obtain the output of the IMU in the carrier coordinate system. The calibration results based on the six-digit calibration method will be used in the MTI-300 comparison experiment and the human walking positioning experiment， to access the calibration effect. Experimental results show that the simple calibration platform designed in this paper can effectively improve the measurement accuracy of the IMU， and obtain a relative low root mean square error below 3.5 compared with commercial IMU.