低成本多IMU标定设备硬件设计与系统误差分析  

Hardware design and system error analysis of low cost multi-IMU calibration equipment

作　　者：黎芳 申辰 王坚 柳絮 李润豪 杨傲 赵佳星 LI Fang;SHEN Chen;WANG Jian;LIU Xu;LI Runhao;YANG Ao;ZHAO Jiaxing(School of Electrical and Information Engineering,Beijing University of Civil Engineering and Architecture,Beijing 102627,China;School of Geomatics and Urban Spatial Informatics,Beijing University of Civil Engineering and Architecture,Beijing 102627,China)

机构地区：[1]北京建筑大学电气与信息工程学院,北京102627 [2]北京建筑大学测绘与城市空间信息学院,北京102627

出　　处：《测绘科学》2024年第2期47-54,共8页Science of Surveying and Mapping

基　　金：国家自然科学基金项目(42274029)。

摘　　要：针对低成本IMU存在标定成本较高问题,该文提出使用3D打印和伺服电机制作低成本的单轴转台和正六面体来对16个IMU进行批量标定方法。在无外界环境干扰下实验采集原始静态数据,并标定IMU的零偏误差、标度因数误差、安装角误差(加速度计)。该方法有效提升多个IMU的静态精度,对于不同体质的IMU可使性能提高0.157%至47.415%。通过3D打印和伺服电机构建的标定设备的辅助实验表明,该设计可以大大降低IMU的标定成本,提高标定效率,同时保证标定的准确性,为低成本IMU的大规模标定提供了可能性。In response to the high calibration cost issue of low-cost IMU,this article proposes a batch calibration method for 16 IMU using 3D printing and servo motors to produce low-cost single axis turntables and regular hexahedra.Collect raw static data in experiments without external environmental interference,and calibrate the IMU's zero bias error,scale factor error,and installation angle error(accelerometer).This method effectively improves the static accuracy of multi-IMU,and can improve performance by 0.157%to 47.415%for IMU of different constitutions.The auxiliary experiments of calibration equipment constructed through 3D printing and servo motors show that this design can greatly reduce the calibration cost of multi-IMU,improve calibration efficiency,and ensure the accuracy of calibration,providing the possibility for large-scale calibration of low-cost IMU.

关 键 词：IMU 低成本 标定 误差模型 

分 类 号：P246.1[天文地球—测绘科学与技术]