摘要
针对微惯性测量单元(MIMU)测量精度的提高,提出一种自适应的MIMU系统自标定方法。通过MIMU系统陀螺仪和加速度计误差模型分析,将陀螺仪和加速度计的误差模型转化为一个线性回归方程,使用椭球拟合的最小二乘方法对MIMU系统进行拟合,最后运用多次拟合模式进行总体标定。采用实验室三轴转台进行实验验证,得到标定的姿态测量系统的精度提高了3个数量级,证实了此标定方案的可行性。
In order to improve the measurement accuracy of micro inertial measurement unit(MIMU),an adaptive self-calibration method of MIMU system is proposedin this paper.First,the error model of the gyroscope and accelerometer is transformed into a linear regression equation through analyzing the error model of gyroscope and accelerometer of MIMU system.Then,the MIMU system is fitted by the least square method of ellipsoid fitting.Finally,the multiple fitting modelsare used for the overall calibration.The experimental verificationis carried out on a three-axis turntable in laboratory,and the accuracy of the calibrated attitude measurement system is improved by three orders of magnitude,confirming the feasibility of the proposed calibration scheme.
作者
刘宇
杨磊
邸克
李博
司学迁
LIU Yu;YANG Lei;DI Ke;LI Bo;SI Xueqian(Chongqing Municipal Lelvel Key Lab.of Photoelectronic Information Sensing and Transmitting Technology, Chongqing University of Post and Telecommunications,Chongqing 400065,China)
出处
《压电与声光》
CAS
CSCD
北大核心
2018年第2期292-295,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金资助项目(61301124
61471075
61671091)
重庆市科委基础研究基金资助项目(cstc2014jcyjA1350)
重庆邮电大学博士启动基金资助项目(A2015-40)
重庆科委自然科学基金资助项目(cstc2016jcyjA0347)
