三轴MEMS加速度计的最大似然校正算法  

Maximum likelihood calibration for MEMS triaxial accelerometer

作　　者：陆欣[1] 刘忠[1] 张宏欣[2] 贺静波[1] LU Xin;LIU Zhong;ZHANG Hongxin;HE Jingbo(College of Electronic Engineering, Naval University of Engineering, Wuhan 430033 , China;Department of Weapon Engineering, Naval University of Engineering, Wuhan 430033 , China)

机构地区：[1]海军工程大学电子工程学院,湖北武汉430033 [2]海军工程大学兵器工程系,湖北武汉430033

出　　处：《国防科技大学学报》2017年第5期185-191,共7页Journal of National University of Defense Technology

基　　金：国家部委基金资助项目(9140A01010415JB11002)

摘　　要：加速度计是惯性导航系统的重要测量元件,而由于制造工艺及各类传感器误差,低成本加速度计很难达到要求的精度,因此需要对其进行校正。提出一种基于最大似然估计的加速度计自校正算法。综合考虑加速度计零偏、比例误差、非正交误差、安装误差与测量噪声,建立了传感器误差模型。在此基础上,将加速度校正问题转化为校正参数的最大似然估计问题。通过数值仿真和实测试验验证,表明算法具有较高的参数估计精度,能够有效地对上述因素引起的误差进行校正。Accelerometer is one of the fundamental measurement units of inertial navigation system.It is difficult to meet the precision requirement for low-cost accelerometer due to the manufacturing process and all kinds of sensor errors.Calibration for accelerometer is essential before being used.Therefore,an accelerometer self-calibration algorithm based on maximum likelihood estimation was proposed.The sensor errors model was established by taking comprehensive consideration of zero bias,scale errors,non-orthogonal errors,installation errors and measurement noise of the accelerometer,based on which the calibration problem of accelerometer was transformed into maximum likelihood estimation problem of calibration parameters.The self-calibration algorithm based on maximum likelihood estimation was tested by both numerical simulation and real data experiment.The result shows the maximum likelihood estimation algorithm has a high precision of parameters estimation and can calibrate the errors caused by factors mentioned above effectively.

关 键 词：最大似然估计 传感器校正 微电子机械系统 三轴加速度计 

分 类 号：TJ81[兵器科学与技术—武器系统与运用工程]