一种新型微惯性姿态测量系统的系统误差补偿及标定方法
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摘要
微惯性姿态测量系统机械精度不高、系统误差和随机误差干扰多样和传统标定计算复杂。针对这些问题,提出一种新型微惯性姿态测量系统误差标定的方法。通过对姿态测量系统的不同微惯性器件进行分析,有针对性的建立系统误差补偿模型。再设置实验转台给定系统不同速率及角度,最后利用最小二乘法、六位置标定法分别进行系统误差参数求解,经解算标定出零位漂移、刻度因子误差和安装误差角。最后通过标定前后对比测试实验,证明了该方法原理简单、易于实现,能较好地补偿微惯性姿态测量系统的系统误差,提高姿态测量精度。
The micro-inertial attitude measuring system has low mechanical precision, systematic error and random error interference, and traditional calibration calculation is complicated. Aiming at these problems, a new method for error calibration of micro inertial attitude measuring system is proposed. By analyzing the different micro-inertial devices of the attitude measuring system, a systematic error compensation model is established. Then the system are given different speeds and angles by setting the experimental turntable. Finally, the system error parameters are solved by the least squares method and the six-position calibration method. The zero drift, the scale factor error and the installation error angle are calibrated by the solution. Finally, through the comparison test before and after calibration, it is proved that the method is simple and easy to implement, and can better compensate the systematic error of the micro inertial attitude measuring system and improve the attitude measuring accuracy.
The micro-inertial attitude measuring system has low mechanical precision, systematic error and random error interference, and traditional calibration calculation is complicated. Aiming at these problems, a new method for error calibration of micro inertial attitude measuring system is proposed. By analyzing the different micro-inertial devices of the attitude measuring system, a systematic error compensation model is established. Then the system are given different speeds and angles by setting the experimental turntable. Finally, the system error parameters are solved by the least squares method and the six-position calibration method. The zero drift, the scale factor error and the installation error angle are calibrated by the solution. Finally, through the comparison test before and after calibration, it is proved that the method is simple and easy to implement, and can better compensate the systematic error of the micro inertial attitude measuring system and improve the attitude measuring accuracy.
引文
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[2]何昆鹏,曾建辉,梁海波,等.微型导航系统中的陀螺漂移在线型标定及补偿方法[J].哈尔滨工程大学学报,2011,32(1):62-68.
[3]黄苹.捷联惯导系统标定技术研究[D].哈尔:滨哈尔滨工程大学,2005.
[4]宋丽君,秦永元.MEMS陀螺仪的一种实用标定法[J].压电与声光,2010,32(3):372-374,378.
[5]李泽民,段凤阳,李赞平.基于MEMS传感器的数字式航姿系统设计[J].传感器与微系统,2012,(6):94-96,100.
[6]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.
[7]陈曦.基于MEMS惯性传感器的高精度姿态测量关键技术研究[D].浙江大学,2014.