基于MEMS加速度计的优化九位置校准算法
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摘要
针对传统的加速度计标定法对高精度转台依赖高的问题,提出一种基于微机电系统(MEMS)加速度计的优化九位置标定算法。该算法考虑加速度计的非线性因子和电子串扰效应,通过采集9个位置的静态加速度计输出数据,即可对加速度计零偏、刻度因子和安装误差等系数进行高精度快速校准,摆脱了对传统转台的依赖。实验结果表明,基于MEMS加速度计的九位置标定算法有效解决了加速度计非线性问题,减低了电子串扰效应对加速度计的影响,加速度计的误差精度由8.48×10-3 g(g=9.8m/s2)减少到5.1×10-4 g,证明该九位置标定算法的可行性和有效性。
In view of the high dependence of the traditional accelerometer calibration method on high precision turntable,an optimized nine position calibration algorithm based on MEMS accelerometer is proposed in this paper.The nonlinear factor and electronic crosstalk effect of the accelerometer are taken into consideration,and by collecting the static accelerometer output data of nine positions,the zero bias,scale factor and installation error of the accelerometer can be quickly and accurately calibrated,for which the dependency on the traditional turntable is eliminated.The experimental results show that the nonlinear problem of accelerometer has been effectively solved by the nine-position calibration algorithm based on MEMS accelerometer and the influence of electronic crosstalk on the accelerometer has been reduced.The error accuracy of accelerometer is reduced from 8.48×10-3 g(g=9.8 m/s2)to5.1×10-4 g,which proves the feasibility and effectiveness of the nine-position calibration algorithm.
In view of the high dependence of the traditional accelerometer calibration method on high precision turntable,an optimized nine position calibration algorithm based on MEMS accelerometer is proposed in this paper.The nonlinear factor and electronic crosstalk effect of the accelerometer are taken into consideration,and by collecting the static accelerometer output data of nine positions,the zero bias,scale factor and installation error of the accelerometer can be quickly and accurately calibrated,for which the dependency on the traditional turntable is eliminated.The experimental results show that the nonlinear problem of accelerometer has been effectively solved by the nine-position calibration algorithm based on MEMS accelerometer and the influence of electronic crosstalk on the accelerometer has been reduced.The error accuracy of accelerometer is reduced from 8.48×10-3 g(g=9.8 m/s2)to5.1×10-4 g,which proves the feasibility and effectiveness of the nine-position calibration algorithm.
引文
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[2] PODDAR S,KUMAR V,KUMAR A.A comprehensive overview of inertial sensor calibration techniques[J].Journal of Dynamic Systems,Measurement,and Control,2017,139(1):011006.
[3]张红宇,叶新生.一种改进的IMU加表标定模型及快速标定方法[J].计测技术,2009(3):11-13.ZHANG Hongyu,YE Xinsheng.A modified calibration model of IMU accelerator and rapid calibration method[J]. Metrology&Measurement Technology,2009(3):11-13.
[4]刘白奇,房建成.一种改进的IMU无定向动静混合高精度标定方法[J].仪器仪表学报,2008(6):1250-1254.LIU Baiqi,FANG Jiancheng.Modified hybrid calibration method for IMU without orientation[J].Chinese Journal of Scientific Instrument,2008(6):1250-1254.
[5]陈剑,孙金海,李金海,等.惯性系统中加速度计标定方法研究[J].微电子学与计算机,2012,29(8):130-133.CHEN Jian,SUN Jinhai,LI Jinhai,et al.The research of calibration method of accelerator in inertial navigation system[J].Microelectronics&Computer,2012,29(8):130-133.
[6] JAFARI M,SAHEBJAMEYAN M,MOSHIRI B,et al.Skew redundant MEMS IMU calibration using a Kalman filter[J].Measurement Science and Technology,2015,26(10):105002.