MARG传感器误差分析与标定方法研究

Research on Error Analysis and Calibration Method of MARG Sensor

MARG传感器成本低廉、导航参数全面,在工程领域应用广泛,但存在精度低,误差大的问题。针对此问题,利用三轴惯性转台对某型MARG传感器的三部分完成标定。首先分别分析了MARG三部分传感器的误差特性,然后引入适合各传感器的输出模型和标定方法;其次,对采集的数据进行处理,得到各传感器的误差参数;最后补偿误差,验证了加速度计六位置法、陀螺仪角速率标定和磁传感器八位置法标定的有效性,为该MARG传感器的实际应用提供了依据。实验结果表明,基于三轴惯性转台的几种标定方法的精度能够满足一般应用的需求,但也存在改进空间。

MARG sensor is low cost, comprehensive navigation parameter, widely used in engineering field, but there are problems of low precision and large error. To solve this problem, three-axis inertial turntable is used to calibrate the three parts of a MARG sensor. Firstly, the error characteristics of the MARG three-part sensor are analyzed respectively, and then the output mod- el and calibration method suitable for each sensor are introduced. Secondly, the experimental data is collected, screened and pro- cessed seriously. Finally, the compensation error is used to verify the accuracy of the six-position accelerometer six-position meth- od, the gyro angular rate calibration and the magnetic sensor eight-position method, which provides the basis for the practical appli- cation of the MARG sensor. The experimental results show that several commonly used calibration methods based on the three - axis inertial platform have high accuracy, meanwhile, but there is room for improvement.