摘要
设计了一种具有数据采集、数据处理以及显示终端的行人导航系统,其中的惯性测量模块采用了基于微机电系统的传感器,它包括三轴加速度传感器、三轴陀螺和三轴磁阻传感器。这种惯性测量模块具有体积小、功耗低、成本低的优点。详细分析了行人导航系统的误差来源,提出了三轴加速度传感器和三轴磁场传感器的非正交误差模型。并运用基于最小二乘的方法实现了一种自动初始校准算法。实验结果表明,这种自动初始校准算法可以有效地消除了该模块的固定偏差、比例误差以及非正交误差。
Presents the design of a Pedestrian Navigation System（PNS）, with the functions of data acquisition, data processing and display terminal. The Inertial Measurement Unit（IMU） is based on MEMS sensors, which consists of triaxial accelerometers, triaxial gyroscopes and triaxial magnetic reluctance sensors. It has characteristics with very small size, low power consumption, and inexpensive. The error sources and the the non-orthogonal error model are analysed in detail. The automatic initial calibration of triaxial accelerometers and triaxial magnetic sensor, based on least squares method,is implemented. The experiments show the calibration can reduce the droop, proportional error and non-orthogonal
出处
《电测与仪表》
北大核心
2006年第11期19-22,共4页
Electrical Measurement & Instrumentation
基金
国家自然科学基金重点资助项目(60334010)
国家自然科学基金资助项目(60475029)
关键词
行人导航系统
微机电系统
惯性测量单元
初始校准
Pedestrian Navigation System
MEMS
Inertial Measurement tion error efficiently. Unit
Initial Calibration
