摘要
针对小体积、低成本、低精度的微惯导单元MIMU,提出了一个有效的标定方法,可以有效的去除微机电传感器的各种误差。在传统的标定方法基础上,结合智能控制方法对MIMU中确定性、随机误差源进行补偿。此外,基于FPGA/DSP嵌入式处理器技术,开发了相关原理样机,完成了静态,动态标定与温度补偿试验,确定IMU总零偏漂移,非正交误差,标度因数等误差源,相关试验数据验证了所提方法的有效性。
Based on a small, lightweight, low-cost high performance inertial Measurement Units （IMU）, an effective calibration method is implemented to evaluate the performance of micro-electro-mechanical systems（ MEMS ） sensors suffering from various errors. Moreover, a reliable intelligent thermal compensation method comparing conventional method is proposed to reduce the effect of these errors that can degrade the system performance. A prototype development board based on FPGA/ DSP is designed for experimental tests. The significant error sources of lMU such as bias, scale factor, and non-orthogonality are estimated in virtue of static tests, rate tests, thermal tests. Experimental results are afforded and evaluated.
出处
《机械设计与制造》
北大核心
2014年第10期257-258,261,共3页
Machinery Design & Manufacture
基金
辽宁省教育厅项目(L2012069)
