多位置融合算法在微型惯性测量组件误差标定中的应用

Application of Multi-Position Fusion Algorithm in MIMU Error Calibration

对微型惯性测量组合的系统标定进行了研究，采用多位置融合算法对微型陀螺仪的静态输出数据进行处理。由于该算法在标定中仅需要惯性组件的位置输出数据，无需对惯性组件进行速率标定，从而简化了标定过程。相比于传统的位置速率标定算法，该算法计算简单，便于编程实现，具有较大的灵活性。通过对最终标定结果与传统算法标定结果进行比较，表明该算法在微型惯性组件标定中是适用的。

System calibration techniques are discussed for micro inertial measurement unit. Multiposition fusion algorithm is adopted to deal with the static data of micro gyroscope. Compared with classical calibration algorithm, it is unnecessary for MPFA in which only position output data is needed to carry out the velocity calibration. So the calibration is more flexible and more simple by using MPFA. By comparing the calibration result of MPFA and classical algorithm, it shows that MPFA is applicable in MIMU calibration.