摘要
介绍了一种针对低精度、非正交安装的MEMS惯导系统的标定方法。在分析MEMS陀螺的静态性能的基础上,将陀螺的静态输出作为陀螺零偏,利用惯性器件空间向量的转换关系,直接得出微惯性器件输出与惯导系统测量坐标系的关系矩阵,通过六个位置和六个速率点即可完成MEMS惯导系统标定,极大的提高了系统的标定效率。某微机械惯导系统的标定、补偿验证试验结果表明此种方法有效可行。
One gyro calibration method for low-precision,non-orthogonal MEMS inertial system is presented.Through the analysis of the static characteristics of the MEMS gyroscope,the static output can be seen as the gyro bias,then based on the knowledge of space vector transformation,the relationship between the gyro output and angular rate be directly derived.With six static positions and six angular rate points,the calibration can be achieved.With calibration,compensation and validation on the actual systems,the results proved the effectiveness of this method.
出处
《战术导弹技术》
2012年第6期86-89,共4页
Tactical Missile Technology
关键词
标定
非正交
MEMS陀螺
转换矩阵
calibration
non-orthogonal
MEMS gyros
transformation matrix
