IMU的加速度计误差参数辨识方法研究

Identification method of accelerometer error parameter based on IMU

为了提高惯性测量单位(IMU)加速度计的输出性能,提出了24位置法辨识加速度计误差参数。首先根据加速度计的输入输出方程建立加速度计的输出误差模型,然后利用24位置法对加速度计的误差模型参数进行辨识,详细设计了24位置法的标定过程,给出了加速度计的标度因数、不对准角、零偏的计算方式,最后利用转台进行位置试验来采集数据并计算分析。实验结果表明,该方法能够快速地辨识出加速度计的误差参数,建立的加速度计误差模型准确。

As the core component of IMU,the accelerometer accuracy directly affects the IMU accuracy.In order to improve the output performance of accelerometer,a 24-position method is proposed to identify the accelerometer error parameters.Firstly,the accelerometer output error model is established according to the input and output formula of accelerometer.Then the accelerometer error model parameters are identified by 24-position method and the calibration process of which is designed in details giving the calculation method of scale factor,misalignment angle and zero offset of the accelerometer.Finally,position test is performed by turntable to collect data and to conduct calculation as well as data analyses.Experimental results show that the proposed method can quickly identify the accelerometer error parameters and establish an accurate accelerometer error model.