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多个MEMS惯性姿态模块同时标定方法研究
引用本文:孔超,孙永荣,李荣冰,常健.多个MEMS惯性姿态模块同时标定方法研究[J].导航与控制,2015(6):75-80.
作者姓名:孔超  孙永荣  李荣冰  常健
作者单位:南京航空航天大学导航研究中心;南京航空航天大学导航研究中心;南京航空航天大学导航研究中心;南京航空航天大学导航研究中心
摘    要:针对MEMS 惯性姿态模块的应用需求, 根据已有的MEMS 三轴加速度计和 三轴陀螺仪的零偏、标度因子和非正交等误差及其随温度的变化模型, 设计了多个 MEMS 惯性姿态模块误差同时标定的方法,该方法可实现多个模块传感器数据的同步采 集,在常温下可对多个MEMS 惯性姿态模块的非正交误差进行批量标定,在全温度范围 内同时标定多个模块的温度漂移误差。试验表明,该方法校正了MEMS 惯性传感器的非 正交误差和温度漂移误差,提高了MEMS 惯性传感器的精度,同时提高了标定的效率, 减少了标定成本,有利于工程实现。

关 键 词:微惯性姿态模块  MEMS  加速度计  MEMS  陀螺仪  同时标定  温度误差  补偿

Simultaneous Calibration Method of the Errors of Multiple MEMS Inertial Attitude Systems
KONG Chao,SUN Yong-rong,LI Rong-bing and CHANG Jian.Simultaneous Calibration Method of the Errors of Multiple MEMS Inertial Attitude Systems[J].Navigation and Control,2015(6):75-80.
Authors:KONG Chao  SUN Yong-rong  LI Rong-bing and CHANG Jian
Institution:Navigation Research Center, Nanjing University of Aeronautics and Astronautics;Navigation Research Center, Nanjing University of Aeronautics and Astronautics;Navigation Research Center, Nanjing University of Aeronautics and Astronautics;Navigation Research Center, Nanjing University of Aeronautics and Astronautics
Abstract:A Simultaneous calibration method which calibrates the error of multiple MEMS inertial attitude systems is designed to satisfy the application requirement of MEMS based inertial attitude system. The method is based on the existing errors model of tri-axis MEMS inertial sensor module which includes bias, scale factors and non-orthogonal and their drift with temperature. The alignment error model can be obtained in the normal temperature environment and the bias and scale factor errors are calibrated over operating temperature range. Experiments show that the simultaneous calibration method improved the precision of MEMS inertial sensor, enhanced the efficiency of calibration, reduced the cost of calibration and was easy to realize in engineering.
Keywords:MEMS inertial attitude system  MEMS accelerometer  MEMS gyroscope  simultaneous calibration  error due to temperature
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