MIMU高精度快速转停标定方法

High-Precision Quick Stop Transit Calibration Method for MIMU

为了解决传统MIMU角速率和静态六位置混合标定方法实验过程冗杂且实验条件严苛的问题,提出了一种用于MIMU的角位置和静态多位置混合标定方法,根据MIMU的误差特性和输出模型,通过优化测试编排方案,一次性标定出陀螺和加速度计的24个误差系数。实验结果表明,该方法在保证测试精度的同时,降低了对高精度速率转台的依赖,在数据采集及处理方面有着明显的优势,适合流程化处理,所用时间由2 h减少为30 min,针对实际工程中大量应用的MIMU标定,具有一定的工程应用价值。

In order to solve the problem that the traditional MIMU angular rate and static six-position hybrid calibration method is redundant and the experimental conditions are severe,a method for angular position and static multiple position hybrid calibration for MIMU is proposed.According to the error characteristic and output model of MIMU,24 error coefficients of gyroscope and accelerometer are calibrated by optimizing test arrangement.The experimental results show that the method not only ensures the accuracy of the test,but also reduces the dependence on the high precision rate turntable.The method has obvious advantages in data acquisition and processing,and is suitable for flow processing,and the time used is reduced from 2 h to 30 min,it has certain engineering application value.