一种基于MEMS的微惯性测量单元标定补偿方法

根据微机电系统MEMS(Micro Electronic Mechanical System)惯性器件的特点,在建立微惯性测量单元MIMU(Micro Inertial Measurement Unit)角速度及加速度误差数学模型的基础上,提出一种适用于MIMU的、仅采用单轴速率转台(无指北装置)的"动态翻转6位置"快速标定补偿方法.与传统标定方法相比,标定补偿方法简单便捷,可以一次确定出MIMU的45个误差系数,辨识误差系数精度高,尤其适用于低精度捷联惯性测量单元.通过理论分析、推导以及大量的实验验证,标定补偿方法可以将MIMU的精度提高2~3个数量级.

Calibration-compensation method for micro inertial measurement unit based on MEMS

According to angular velocity and accelerate error mathematical models of micro inertial measure unit(MIMU),a kind of quick calibration-compensation method called dynamic overturn 6 positions was proposed based on special features of micro electronic mechanical system(MEMS) inertial devices,which only needed one single axis velocity rolling plate(without referring to the north).Comparing with traditional calibration-compensation method,this method was simple,convenient and could identify forty-five error coefficients of MIMU.The precision of error coefficients identified was high,and this method was especially fit for low precision strapdown inertial measure unit.Through theoretical analyses,calculations and experiments,the result shows that this calibration-compensation method could improve the MIMU accuracy by 2~3 magnitudes.