| 摘要: |
| 提出了一种在分度头上标定MEMS加速度计组合的测试方法，该方法可以标定出加速度计组合的刻度系数误差、加速度计零偏、三轴不正交度误差、安装误差角，同时可以分离出分度头转位机构角位置误差。首先通过建立一系列坐标系，推导了重力加速度在加速度计敏感轴的分量表达式。然后采用谐波分析法给出了误差标定方程，利用最小二乘法和Kalman滤波器进行误差参数的估计，并对估计结果进行了对比分析。最后通过三次独立实验标定结果的重复性和残差验证了该方法的正确性。 |
| 关键词: MIMU组合标定 MEMS加速度计 光栅分度头 谐波分析法 Kalman滤波 |
| DOI： |
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| 基金项目: |
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| Calibration Method for MEMS Accelerometers Based on Dividing Head |
| GAO Kang,CHEN Xi-jun,REN Shun-qing |
| (Space Control and Inertial Technology Research Center, Harbin Institute of Technology) |
| Abstract: |
| This paper proposes a method for calibrating three-triad accelerometers on an indexing table.The calibrate scale factors, biases, misalignment angles of three input axes, and the pitch errors of the turntable were separated from the outputs of the accelerometers.Firstly, components of gravity in the accelerometer input axes are deduced by establishing a series of coordinate systems and propagating different attitude errors.After that, the calibration model equation is built by harmonic analysis method and the error parameters were estimated using the least square method and Kalman filter.Finally, the correctness of this method was verified by three independent experiments under the same condition |
| Key words: MIMU calibration MEMS accelerometer Indexing turntable Harmonic analysis method Kalman filter |
