基于椭球拟合的三轴陀螺仪快速标定方法  

Triaxial gyroscope fast calibration method based on ellipsoid fitting

作　　者：龙达峰[1] 刘俊[1] 张晓明[1] 李杰[1] 

机构地区：[1]中北大学电子测试技术重点实验室中北大学仪器科学与动态测试教育部重点实验室,太原030051

出　　处：《仪器仪表学报》2013年第6期1299-1305,共7页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61004127;50905169);山西省研究生优秀创新基金(20123091)资助项目

摘　　要：陀螺仪是惯性导航系统的核心器件,其测量精度直接影响惯性导航系统的姿态解算的准确性,对其准确、快速地校准显得至关重要。目前陀螺仪所采用的位置标定和速率标定方法,存在测试条件苛刻,需要精密的标定测试设备和高精度的北向基准,且标定时间长等问题。在分析了三轴陀螺仪误差模型的基础上,提出了一种基于椭球拟合算法的三轴陀螺仪快速标定方法。该方法通过对三轴陀螺仪在不同姿态下对同一角速度矢量的测量数据进行椭球拟合,可快速标定出该三轴陀螺仪的零偏、灵敏度、不正交等静态误差,进而对角速度矢量测量数据进行补偿,以提高测量结果的准确度。实验结果表明该方法可有效提高三轴陀螺仪的测量精度。Gyroscope is the core device in inertial navigation system, which directly influences the attitude solution accuracy of the inertial navigation system. So it is very important to calibrate the gyroscope accurately and rapidly. At present, the position and speed calibration methods adopted by gyroscope have the problems of strict test condition, requiring precision calibration test equipment and high-precision north reference, as well as long calibration time. In this paper, on the basis of analyzing the error model of three axis gyroscope, a triaxial gyroscope fast calibration meth- od based on ellipsoid fitting algorithm is proposed. Through fast ellipsoid fitting on the measurement data of three-axis gyroscope acquired in different postures for the same angular velocity vector, this method can fast calibrate the static errors of three-axis gyroscope, such as bias, sensitivity and non-orthogonality errors, and then compensate the meas- urement data of the angular velocity vector; as a result, the accuracy of the measurement results is improved. The ex- periment results show that this method can effectively improve the measurement accuracy of three axis gyroscope.

关 键 词：三轴陀螺仪 误差分析 标定 椭球拟合 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]