基于惯性测量单元旋转的陀螺漂移估计和补偿方法

Gyroscope bias estimation and compensation by rotation of the inertial measurement unit

陀螺仪的漂移误差是影响惯性导航系统的姿态测量精度的重要因素。常用的陀螺漂移估计及航向角误差修正方法需要用磁强计或GPS等外部传感器的辅助数据来实现,存在室内、磁干扰等环境下应用受限的问题。对此该文提出了惯性测量单元旋转的改进方法。该方法在测量过程中对陀螺仪施加独立于物体运动的特定旋转,通过旋转前后不同姿态下陀螺仪和加速度计输出的倾角数值,得到惯性测量单元漂移估计。实验表明,该估计算法可有效地提高航向角的测量精度。

Gyroscope bias is a major factor affecting the accuracy of attitude estimates in inertial navigation systems. Existing methods to estimate the gyroscope bias and heading error correction need additional measurements from a magnetometer, global positioning system （GPS） or other external sensors, so they are of limited use in some applications such as indoor navigation systems or in the presence of strong magnetic disturbances. A bias estimation method is given here based on rotations of the inertial measurement unit. The gyroscope bias is estimated from the difference between the inclination angles of the gyroscopes and aecelerometers at different attitudes, which are measured just before and after rotation of the unit. Tests show that this method effectively improves the accuracy of the attitude estimate, especially the heading angle.