摘要
在对微惯性测量组合的发展和应用进行分析的基础上,从微惯性测量组合的结构及基本工作原理出发,针对微惯性测量组合系统进行了误差源分析和标定技术研究。以微惯性测量模块VG400CD-100为研究对象,分析了微惯性测量的组合技术,建立误差模型方程,研究了微惯性测量组合系统的标定,给出了三维陀螺仪标定的比例系数和交叉耦合误差系数以及三维加速度计标定的比例系数和交叉耦合误差系数。然后利用MATLAB数据分析工具,采用最小二乘法回归理论,对标定实验数据进行分析和处理,最终完成对微惯性测量器件,即微陀螺仪和微加速度计各误差系数的标定。
Based on the analysis of the development and application of MIMU,error analysis and researches calibration tech-nology from the structure and the principle of MIMU are done.Taking the MIMU of VG400CD-100 as research object,The er-ror model equation is set up.The calibration experiment of MIMU is studied.The scale coefficient of three-dimensional gyro-scope and the coefficient of cross-coupling error, the scale coefficient of three-dimensional accelerometer and cross-coupling error are all given.Then, the data of calibration experiment is analyzed and is processed by using the MATLAB data analysis tool and the least squares method regression theory.Finally, calibrating various error coefficients from the micro inertial meas-urement component,namely micro gyroscope and micro accelerometer are completed.
出处
《机械研究与应用》
2014年第1期184-187,190,共5页
Mechanical Research & Application
