基于Kalman滤波的MEMS加速度计标定方法研究  

Research on calibration method for MEMS accelerometerbased on Kalman filtering

作　　者：赵桂玲[1] 许德富 葛礼赞 郭泉荣 ZHAO Guiling;XU Defu;GE Lizan;GUO Quanrong(School of Geomatics,Liaoning Technical University,Fuxin 123000,China)

机构地区：[1]辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000

出　　处：《传感器与微系统》2021年第11期25-27,31,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(41404035);辽宁省自然科学基金资助项目(201602364)。

摘　　要：针对微机电系统(MEMS)加速度计标定参数难以快速、高精度标定的工程问题,提出一种基于Kalman滤波的加速度计误差标定方法。设计基于重力场的多位置分立式标定路径,快速标定出MEMS加速度计标度因数、安装误差和零偏;并以此作为Kalman滤波的初始值,建立以速度误差为观测量的Kalman滤波方程,估计多位置分立式标定参数误差,修正多位置分立式标定结果。实验结果表明:标定方法可降低MEMS加速度计测量误差,加速度计三轴测量精度分别提高13%,24%,22%。Aiming at the engineering problem that the calibration parameters of micro-electro-mechanical system(MEMS)accelerometer are difficult to be calibrated quickly and accurately,a calibration method of accelerometer error based on Kalman filtering is proposed.Based on the gravity field,a multi-position discrete calibration path is designed to quickly calibrated the scale factor,installation error and zero bias of MEMS accelerometer.As the initial value of Kalman filtering,the parameter error of multi-position discrete calibration is estimated and the result of multi-position separation calibration is corrected.The experimental results show that the calibration method can reduce the measurement error of MEMS accelerometer,and the measurement precision of the accelerometer triaxial is improved by 13%,24%and 22%,respectively.

关 键 词：KALMAN滤波 分立式标定 标度因数 安装误差 零偏 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] U666.1[自动化与计算机技术—控制科学与工程]