作者：翟子雄, 张丕状, 张煜林

作者单位：中北大学仪器科学与动态测试教育部重点实验室, 山西 太原 030051

关键词：椭球假设;微惯性测试单元;现场标定;零偏;灵敏度;非正交

摘要：

微惯性测试单元(MIMU)中测量组合的测量准确度直接影响姿态测试系统姿态解算的准确度,根据微惯性测量组合任意静态位置3个轴测量模值为固定值,提出一种基于椭球假设的MIMU现场快速标定方法。通过分析微惯性测量组合的误差模型,对其在不同姿态下的测量数据进行椭球拟合,快速得到全部标定参数。试验结果表明:该方法可在没有精密标定设备的条件下现场标定,操作简便、快速,准确度可以提高3个数量级,满足导航解算的准确度要求。

Field calibration of MIMU based on ellipsoid hypothesis

ZHAI Zixiong, ZHANG Pizhuang, ZHANG Yulin

Key Laboratory of Instrumentation Science & Dynamic Measurement of Ministry of Education, North University of China, Taiyuan 030051, China

Abstract: Whether a measurement unit in MIMU is measured accurately can directly affect the attitude calculation of an attitude testing system. So, it is important to calibrate the measurement units quickly and accurately. A MIMU field fast calibration method has hence been proposed based on ellipsoid hypothesis and a fixed value-three axis measurement mode data in any static position. In line with the analytical results of a MIMU error model, all the calibration parameters were obtained via ellipsoid fitting of the measurement data acquired in different postures. Experimental results show that this simple and rapid field calibration method can be used in the environment without precision calibration to improve the MIMU accuracy by 3 magnitudes, thus satisfying the accuracy requirement of navigation calculation.

Keywords: ellipsoid hypothesis;MIMU;field calibration;zero bias;sensitivity;non-orthogonal

2015, 41(12): 25-27,48  收稿日期: 2015-04-15;收到修改稿日期: 2015-06-03

基金项目: 

作者简介: 翟子雄(1990-),男,山西太原市人,硕士研究生,专业方向为惯性导航技术、信号与处理。

参考文献

[1] 杨淑洁,曾庆双,伊国兴. 低成本无人机姿态测量系统研究[J]. 传感器与微系统,2012,31(2):15-18.
[2] 刘俊,石云波,李杰. 微惯性技术[M]. 北京:电子工业出版社,2005:296-300.
[3] 李杰,洪惠惠,张文栋. MEMS微惯性测量组合标定技术研究[J]. 传感技术学报,2008,21(7)1169-1173.
[4] 刘锡祥,徐晓苏. 惯性测量组件整体标定技术[J]. 中国惯性技术学报,2009,17(5):568-576.
[5] 毛友泽,张海. 无依托状态加速度计的新型标定方法[J].北京:北京航空航天大学学报,2011,37(1):124-126.
[6] 陈弯弯,陈智刚,付建平. MEMS微型惯性测量组合的标定[J]. 仪表技术与传感器,2014(12):37-38.
[7] 田晓春,李杰,范玉宝,等. 一种微惯性测量单元标定补偿方法[J]. 传感技术学报,2012,25(10):1412-1415.
[8] 范玉宝,李杰,张晓明,等. 基于椭球拟合的微惯性测量组合现场快速标定方法[J]. 传感技术学报,2011,24(11):1548-1550.
[9] 龙达峰,刘俊,张晓明,等. 基于椭球拟合的三轴陀螺仪快速标定方法[J]. 仪器仪表学报,2013,34(6):1300-1305.
[10] Li Q, Griffiths J G. Least squares ellipsoid specific fitting[C]//Proceedings of the Geometric Modeling and Processing,2004:335-340.