微惯性测量单元的标定技术研究  

On Calibration of Micro Inertial Measurement Unit

作　　者：乌伟[1] 赵严[2] 宁永权[2] 梁有财[3] 

机构地区：[1]西京学院 [2]西北工业大学 [3]中国人民解放军96115部队

出　　处：《电光与控制》2013年第8期54-57,共4页Electronics Optics & Control

基　　金：中国博士后科学基金特别资助(2012T50818)

摘　　要：精确的误差标定技术是提高惯导系统精度的重要基础,故在使用前要对惯性测量单元进行标定。根据误差来源建立了陀螺和加速度计的误差模型,提出并推导了一种采用多位置和速率相结合的标定方法。利用多位置试验标定出加速度计的零偏、标度系数、安装误差,陀螺的零偏以及与加速度有关的误差系数,利用正负对称的速率试验法标定出陀螺的标度因数和安装误差。将算法进行仿真验证,能有效减少误差,具有一定的工程应用价值。Accurate error calibration technology is the essential foundation for improving the precision of inertial navigation system, thus the inertial measurement unit must be calibrated before using. The error models of gyroscope and accelerometer were established according to the error source, and a calibration method based on multi-position and velocity was given. The multi-position test was used to calibrate the zeros bias, scale factors and installing errors of the accelerometer, and the zeros bias and acceleration related error of the gyro. The positive and negative symmetrical speed testing on the single-axis table was used to calibrate the scale factor and installing error of the gyro. The simulation results indicate that the above method can accurately calibrate the above error coefficient, which has certain project application value.

关 键 词：捷联惯导 无人机 微惯性测量单元 参数标定 速率试验 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TN956[电子电信—信号与信息处理]