基于旋转矩阵的MEMS-IMU传感器安装误差校准算法  

Rotation matrix-based calibration algorithm for installation errors of MEMS-IMU sensors

作　　者：王鹏 余未 倪屹 WANG Peng;YU Wei;NI Yi(School of Integrated Circuits,Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学集成电路学院,江苏无锡214122

出　　处：《空天预警研究学报》2024年第6期420-425,共6页JOURNAL OF AIR & SPACE EARLY WARNING RESEARCH

摘　　要：为解决微型惯性测量单元(MEMS-IMU)传感器的安装误差对测量结果的影响,提出了一种基于旋转矩阵的安装误差校准算法,以提高在安装误差较大情况下的角度测试精度.首先基于旋转矩阵和坐标变换对倾角传感器与被测物的安装误差建立数学模型,对无噪声、无偏移的理想IMU数据进行安装误差影响仿真,分析安装误差对姿态测量的影响;然后对该误差模型设计校准算法;最后以大型飞机舵面测量为应用场景,通过三轴精密转台模拟飞机舵面在测量姿态时的环境,采集MEMS-IMU原始数据来验证误差校准算法的精度.实验结果表明,在经过误差校准算法处理后,MEMS-IMU传感器在连续测量中的俯仰角和横滚角的姿态误差在0.1°以内.In order to address the influence of installation errors of micro-electro mechanical systems inertial measurement unit(MEMS-IMU)sensors on measurement results,this paper proposes an installation error calibration algorithm based on rotation matrix to improve the accuracy of angle measurement in the presence of significant installation error.First,a mathematical model of the installation error between the inclinometer and the measured object is established based on the rotation matrix and coordinate transformation.The installation error’s impact is simulated by use of ideal IMU data(i.e.,in the raw IMU data there is no noise,no zero offset or other interferences),and the effect of installation errors on attitude measurement is analyzed.Then,a calibration algorithm is designed for this error model.Finally,the rudder surface measurement of large aircraft is used as the application scenario;the environment of aircraft rudder surface during attitude measurement is simulated by three-axis precision turntable,and the original MEMS-IMU data is acquired to verify the accuracy of the error calibration algorithm.Experimental results show that the attitude error of the MEMS-IMU sensor in the continuous measurement of pitch angle and roll angle is within 0.1°after the error calibration algorithm is applied.

关 键 词：MEMS传感器 姿态解算 旋转矩阵 在线误差校准 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]