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应用科学学报

• 控制与系统 • 上一篇    

六余度配置MEMS-IMU误差标定

黄徽; 刘建业; 李荣冰
  

  1. 南京航空航天大学导航研究中心，南京210016
  • 收稿日期:2008-06-10 修回日期:2008-10-21 出版日期:2009-01-25 发布日期:2009-01-25
  • 通信作者: 刘建业

Error Calibration for Redundancy Collocation of Six MEMS-IMU

HUANG Hui, LIU Jian-ye, LI Rong-bing
  

  1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2008-06-10 Revised:2008-10-21 Online:2009-01-25 Published:2009-01-25
  • Contact: LIU Jian-ye

PDF

2863

被引次数

11

摘要： 研究捷联惯性传感器多余度配置系统的标定. 分析了多余度惯性传感器各参数的测量原理及算法关系，针对典型的非正交配置（六传感器正十二面体）的多余度惯性测量单元(IMU)，导出六位置转动标定方法，给出了计算误差模型参数的数学推导过程，建立了余度MEMS-IMU误差模型的解析表达式. 实验结果表明：该方法精度高，可有效估计出六余度MEMS-IMU的误差模型参数，提高惯导系统精度.

关键词: 误差补偿, 余度配置, 静态标定, 惯性测量单元

Abstract: System calibration techniques are discussed for strap-down redundant inertial measurement units. The measuring principle and calculation formulation are introduced. A new static calibration approach is discussed for non-orthogonal inertial sensor configuration, with which model parameters can be calculated with high precision. The procedure of parameter calculation and the solution is given. Simulation results show that the new approach can improve navigation precision.

Key words: error compensation, redundant configurations, static calibration, inertial measurement unit (IMU)

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