基于两步修正法的MEMS三轴陀螺仪标定方法  

MEMS triaxial gyroscope calibration based on two-step correction method

作　　者：邹泽兰 徐同旭 徐祥 赵鹤鸣[1] Zou Zelan;Xu Tongxu;Xu Xiang;Zhao Heming(School of Electronic and Information Engineering,Soochou Unirersity,Suzhou 215006,China;Automation college of Nanjing University of Technology,Nanjing 210094,China)

机构地区：[1]苏州大学电子信息学院,苏州215006 [2]南京理工大学自动化学院,南京210094

出　　处：《仪器仪表学报》2022年第4期191-198,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61803278);东南大学微惯性仪表与先进导航技术教育部重点实验室(B类)开放基金(SEU-MIAN-201802)项目资助。

摘　　要：针对目前三轴陀螺仪标定存在依赖于昂贵的转台设备或标定参数不完全的问题,本文提出了一种了基于两步修正法的MEMS三轴陀螺仪标定方法。该方法首先使用六位置法对加速度计12参数模型、三轴陀螺仪比例因子、三轴陀螺仪静态零偏进行标定补偿,然后对三轴陀螺仪非正交误差模型建模,进行系统级标定。两步修正法可实现在无精密设备条件下快速准确的对各项误差进行辨识,获得良好的标定效果。仿真实验表明,本文算法所获得的非正交误差均值接近1%,标准差小于0.1%;比例因子误差均值小于0.14%,标准差小于0.004%,且具有很好的一致性。实际实验表明,65 s纯惯性导航姿态更新结果中,该标定方法的俯仰角误差精度可以达到0.624°,横滚角误差精度可以达到0.67°。Aiming at the problem that the current three-axis gyroscope calibration relies on expensive turntable equipment or the calibration parameters are incomplete, a method based on a two-step correction method is proposed. Firstly, the six-position method is adopted to calibrate and compensate the 12-parameter model of the accelerometer, the scale factor of the triaxial gyroscope, and the static bias of the three-axis gyroscope. Then, the non-orthogonal error model of the triaxial gyroscope is formulated for the system-level calibration. The two-step correction method can quickly and accurately identify various errors without precision equipment, and obtain a good calibration effect. Simulation experiments show that the average non-orthogonal error obtained by this algorithm is close to 1%, the standard deviation is less than 0.1%, the average scale factor error is less than 0.14%, and the standard deviation is less than 0.004%. The actual experiment shows that in the attitude update results of 65 s pure inertial navigation, the pitch angle error and the roll angle error of this calibration method can reach 0.624° and 0.67°.

关 键 词：MEMS三轴陀螺仪 六位置法 系统级标定 误差模型 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计] TH824[机械工程—仪器科学与技术]