一种基于磁传感器的MEMS陀螺标定方法

A Calibration Method of MEMS Gyroscope Based on Magnetic Sensor

根据微型航姿测量系统各传感器的特点,研究出了一种基于磁传感器输出的MEMS陀螺标定方法,并根据MEMS陀螺误差参数模型设计相应的补偿算法,分别对MEMS陀螺的零偏和标度因数误差进行了补偿。与传统标定方法相比,该方法实现简单,适用于现场标定。实验结果表明,该标定方法能够有效地提高MEMS陀螺测量精度,补偿后陀螺在静态条件下2min内,俯仰角漂移小于0.035°,倾斜角漂移小于0.15°,航向角的漂移小于0.2°。当陀螺三轴均有角速率输入时,在角速度小于25°/s情况下误差都能保持在±2°以内。

According to the characteristics of different sensors in an Attitude and Heading Reference System（AHRS）, a new calibration method of MEMS gyroscope based on the output of magnetic sensor is developed. The error models of the MEMS gyroscope is established, and appropriate compensation algorithm for MEMS gyroscope＇s bias error and scale factor error was designed. Compared with the traditional calibration methods, this method is rather simple and suitable for real-time calibration. Experimental results show that the static accuracy of MEMS gyroscope has reached a high accuracy,the drift of pitch angle is less than 0. 035° per two minutes,the drift of tilt angle is less than 0.15° per two minutes and the drift of heading angle is less than 0.2° per two minutes. When input angle rates of all three axes are within 25°/s,the heading angle error,pitch angle error and tilt angle error are all no more than±2°.