基于三轴转台误差分析的IMU标定方法  

IMU calibration method based on analysis for the errors of three-axis turntable

作　　者：董春梅[1] 任顺清[1] 陈希军[1] 

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2016年第4期895-901,共7页Systems Engineering and Electronics

基　　金：装备预研基金(9140A09030313HT01121);国家重大科学仪器设备开发专项(2013YQ310737)资助课题

摘　　要：为了减小三轴转台误差对惯性测量单元(inertial measurement unit,IMU)误差模型系数标定精度的影响,提高IMU在三轴转台上的标定精度,首先分析了三轴转台各误差源,给出了陀螺仪和加速度计的输出与转台的位置、姿态误差之间的关系。据此设计了正十二面体-20点的位置和速率试验计划。该方法能同时辨识出IMU的误差模型系数以及转台误差源,自动补偿了三轴转台的误差,提高IMU误差模型系数的标定精度。最后对理论分析结果进行仿真验证,给出了转台误差与IMU误差模型系数标定误差之间的关系。In order to decrease the influence of three-axis turntable errors on the calibration accuracy of inertial measurement unit＇s（IMU＇s）error model coefficients,and to increase the calibration accuracy of the IMU on the three-axis turntable,various error sources of the three-axis turntable are analyzed.the relationships among the outputs of the gyros and the accelerometers,the position and attitude errors of the turntable are given.Then an angular position and rate test using-20 piont regular dodecahedron is designed.The IMU＇s error model coefficients and error sources of the turntable are identified simultaneously using the least square method,thus the errors of the three-axis turntable are automatically compensated and the calibration accuracy of the IMU＇s model coefficients is raised greatly with this method.Finally,the simulation analysis is conducted,and the relationships between the errors of the turntable and IMU＇s error model coefficients calibration errors are given.

关 键 词：惯性测量单元 陀螺 加速度计 三轴转台 

分 类 号：U666.1[交通运输工程—船舶及航道工程]