基于ADIS16488 MEMS IMU标定测试方法研究

Research on Calibration Testing Method of ADIS16488 MEMS IMU

MEMS惯性器件误差是导航系统主要的误差源,而确定性误差和随机误差是惯性器件主要误差,确定性误差可以通过标定补偿.本文通过分析MEMS IMU标定误差模型,设计了加速度计的6位置标定法和陀螺仪的速率快速标定法,推导了适用最小二乘的标定参数辨识方程.以ADIS16488 MEMS IMU为标定测试对象,利用高精度3轴转台进行了标定试验,标定误差补偿后MEMS IMU器件精度等级提高了至少1个数量级,证明该方法有效.

The main error source of navigation system is the inherent error of the inertia measurement unit（IMU）,while the deterministic error and random error are the main errors of the IMU.The deterministic error can be compensated by calibration testing.According to MEMS IMU calibration error model,the six position rapid accelerometer calibration method and gyroscope velocity calibration method are designed.The least squares method is used to establish the calibration parameters identification equation.The ADIS16488 MEMS IMU was tested on the high-precision three-axis turntable.The test result shows the measurement precision of MEMS IMU is improved by at least 1 magnitudes after calibration error compensation,which proves that the method is effective.