一种新的无陀螺惯性测量组合标定方法  

A New Calibration Method for Gyroscope Free Micro Inertial Measurement Unit

作　　者：王博[1] 李杰[1] 于希宁[1] 杜英[1] 孔祥雷[1] 

机构地区：[1]中北大学电子测试技术国家重点实验室,太原030051

出　　处：《传感技术学报》2010年第9期1281-1284,共4页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金资助(50905169)"高速旋转弹药飞行姿态的半捷联MEMS惯性测量技术研究"

摘　　要：无陀螺惯性测量组合在角速率解算过程中不仅需要知道加速度计标定因数、零偏及实际安装方向向量,还需要准确获取加速度计的实际安装位置。针对上述特点,以加速度计输出模型为基础,提出并建立了一种广泛适用于各种无陀螺惯性测量组合的标定方法。该方法经转台位置和速率实验验证可以准确得到加速度计标度因数、零偏及安装误差,进一步提高了载体线加速度和角速率解算精度,从而为后续的姿态解算奠定基础。As far as the gyroscope free inertial measurement unit concerned, calibration factors, zero-bias and the actual installation direction vectors of the accelerometers are necessary in the process of angular velocity solution. In addition, actual installation location vectors of the accelrometers obtained accurately are also important impact factors to solution. In view of the characteristics abovementioned, a calibration method for gyroscope free inertial measurement unit which can be widely applied in different kinds of configurations, is proposed and its model established according to accelerometers outputs. Through the results of turntable position and rate experiments, accelerometers’ calibration factors, zero-bias and installation error vectors are derived, so as to lay the foundation for even more accurate calculation of the vector linear acceleration and angular velocity, as well as to be more favorable in the process of posture solution followed up.

关 键 词：惯性测量组合 加速度计 标定 安装误差 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]