一种弹载三轴加速度计现场快速标定及补偿方法
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摘要
提出了一种基于椭球拟合原理的三轴加速度计在线标定补偿方法,在分析加速度计误差产生机理的基础上,建立三轴加速度计误差模型,根据椭球拟合原理实现了对三轴加速度计的测试标定,并给出了与之对应的标定及补偿方案。试验结果表明:该标定方法能够在较短时间内准确估计三轴加速度计的各项标定参数;标定过程简单,环境要求较低,可在缺少精密标定设备环境下(如靶场)进行;其标定精度与转台标定结果精度相当,补偿精度满足实际数据解算要求。
An online error calibration compensation method of three-axis accelerometer based on the ellipsoid fitting was proposed. The three-axis accelerometer error model was firstly established on the basis of analyzing the error model of three-axis accelerometer. Then the ellipsoid fitting method for the three-axis accelerometer error calibration and compensation was proposed,and the online calibration scheme and the compensation method were given. The experimental results show that the proposed method with the advantage of easily-operation,time-saving and low environmental requirements can accurately estimate the calibration parameters of three-axis accelerometer. Furthermore,the proposed field calibration method can be used in the environment without precision calibration equipment for field calibration,and the calibration accuracy of the proposed method is equivalent to that using high-precision turntable. Finally, the compensation precision of the proposed field calibration method meets the requirements of the actual navigation calculation.
An online error calibration compensation method of three-axis accelerometer based on the ellipsoid fitting was proposed. The three-axis accelerometer error model was firstly established on the basis of analyzing the error model of three-axis accelerometer. Then the ellipsoid fitting method for the three-axis accelerometer error calibration and compensation was proposed,and the online calibration scheme and the compensation method were given. The experimental results show that the proposed method with the advantage of easily-operation,time-saving and low environmental requirements can accurately estimate the calibration parameters of three-axis accelerometer. Furthermore,the proposed field calibration method can be used in the environment without precision calibration equipment for field calibration,and the calibration accuracy of the proposed method is equivalent to that using high-precision turntable. Finally, the compensation precision of the proposed field calibration method meets the requirements of the actual navigation calculation.
引文
[1]张樨,李杰,蒋窍,张晓明.基于椭球拟合的三轴磁传感器快速标定方法[J].机械工程与自动化,2012(4):163-165.
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[7]石玺文,李杰,胡陈君,等.MEMS三轴加速度计6位置标定方法的研究[J].电子器件,2016,39(2):403-406.
[8]梁益丰,许微,曹勇.MARG传感器误差分析与标定方法研究[J].船舶电子工程,2017,37(9):41-45.
[9]HE G L,TAO S Q,SHEN Q.Research on calibration and parameter compensation of MEMS inertial sensors based on error analysis[J].Fifth International Symposium on Computational,2012,1(4):325-329.
[10]张海鹰,何波贤,郑铁山,等.基于椭球拟合的三轴加速度计误差补偿方法[J].传感器世界,2015,21(6):7-10.
[11]李勇,刘文怡,李杰,等.基于椭球拟合的三轴磁传感器误差补偿方法[J].传感技术学报,2012,25(7):917-920.
[12]LIU Z,PANG H,PAN M,et al.Calibration and compensation of geomagnetic vector measurement system and improvement of magnetic anomaly detection[J].IEEE Geoscience&Remote Sensing Letters,2016,13(3):1-5.
[2]蔡鹏.重力场中水下低速载体的运动加速度提取技术研究[D].杭州:浙江大学,2017.
[3]REN W,ZHANG T,ZHANG H Y,et al.A research on calibration of low-precision MEMS inertial sensors[J].Control&Decision Conference,2013,975(1):199-209.
[4]胡陈君.弹载小型抗高过载微惯性测量系统设计[D].太原:中北大学,2015.
[5]陈文蓉,张婧.三轴磁传感器制造误差补偿方法研究[J].现代防御技术,2015,43(6):190-193.
[6]闫蓓,王斌,李媛.基于最小二乘法的椭球拟合改进算法[J].北京航空航天大学学报,2008,34(3):295-298.
[7]石玺文,李杰,胡陈君,等.MEMS三轴加速度计6位置标定方法的研究[J].电子器件,2016,39(2):403-406.
[8]梁益丰,许微,曹勇.MARG传感器误差分析与标定方法研究[J].船舶电子工程,2017,37(9):41-45.
[9]HE G L,TAO S Q,SHEN Q.Research on calibration and parameter compensation of MEMS inertial sensors based on error analysis[J].Fifth International Symposium on Computational,2012,1(4):325-329.
[10]张海鹰,何波贤,郑铁山,等.基于椭球拟合的三轴加速度计误差补偿方法[J].传感器世界,2015,21(6):7-10.
[11]李勇,刘文怡,李杰,等.基于椭球拟合的三轴磁传感器误差补偿方法[J].传感技术学报,2012,25(7):917-920.
[12]LIU Z,PANG H,PAN M,et al.Calibration and compensation of geomagnetic vector measurement system and improvement of magnetic anomaly detection[J].IEEE Geoscience&Remote Sensing Letters,2016,13(3):1-5.