基于梯度变化率的IMU系统慢变趋势补偿方法  

Compensation for IMU Navigation System with Variance Ratio of Grads

作　　者：张琬琳[1] 尹剑[1] 李辉[1] 李宝珺[1] ZHANG Wan-lin;YIN Jian;LI Hui;LI Bao-jun(Xi’an Institute of Applied Optics,Xi’an 710065,China)

机构地区：[1]西安应用光学研究所,西安710065

出　　处：《火力与指挥控制》2018年第3期146-150,共5页Fire Control & Command Control

摘　　要：针对IMU系统受温度影响误差输出较大,基于现有的惯性器件温度补偿方法已经无法满足导航精度要求,通过对QMEMS陀螺进行温度特性试验,分析总结出QMEMS陀螺受温度影响的主要因素为上电启动温度以及单位时间内温度梯度变化率,进而提出了一种主要基于温度梯度变化率的温度补偿方法,采用线性分段参数进行推导并进行在线补偿,实验结果表明,补偿后的三轴陀螺零偏都降低了至少2个数量级,输出慢变趋势补偿为渐进平稳,导航系统最大位置误差降低了50%,同时姿态误差也有明显的降低。The IMU system is influenced greatly by temperature,existing temperature compensation model of Inertial sensor already can't satisfy the needs of navigation precision,A great deal of experiments has been done,with analyzing the result of the temperature experiments,the temperature variance ratio of grads and start-up temperature is fixed to the major factor,and a new temperature compensation arithmetic is presented,linearity subsection parameter is deduced and real time compensation is executed.the experiment results indicated that the bias of gyroscope is reduced to at least one percent of the original,slow change trend is compensated to be gradually steady.The maximum error of Inertial navigation system is reduced at least fifty percent and attitude error is obviously reduced.

关 键 词：温度补偿 梯度变化 IMU系统 QMEMS陀螺 

分 类 号：U666.1[交通运输工程—船舶及航道工程]