多传感器微惯性测量单元标定技术研究

基于设计生产的一款每个敏感轴集合两种类型MEMS陀螺仪和加速度计的微惯性测量单元(MIMU),提出了一种MIMU精确标定测试方法。该方法以MIMU整体为标定对象,考虑了温度对零偏、标度因数的影响、传感器轴间不完全正交误差及结构安装误差等因素,对MIMU中各惯性传感器的初始零偏、标度因数、交叉耦合系数等参数进行了标定。产品标定测试结果证实了该方法的有效性。

Research on Calibration Technology of Multisensor MIMU

Based on the products with two types of MEMS inertial measurement device on each sensitive axis, a multisensor MIMU calibration method is proposed. According to the feature of the whole MIMU system, and considering the factors such as the temperature influence on the bias and scale factor error, non-orthogonality error and sensor axis misalignment, the calibration for the bias, scale factor and cross coupling coefficient of all sensors has been performed. The test results show that the method is effective.