基于旋转机构的加速度计误差标定与补偿方法

摘要

Inertial sensors(gyroscope and accelerometer)performance affect the INS precision direct.An accelerometer error calibration and compensation method based on rotating mechanism was designed to slove the conventional problems.The relation between input and output was changed into the relation between rotary angle,and the least square algorithm was applied to estimate accelerometer error modulus such as accelerometer'bias,proportion modulus,nonlinear proportion modulus and cross-coupling proportion modulus,then corresponding error compensation was done.The experiment results show that various accelerometer error modulus are estimated truly within 100 s by rotating mechanism,and times frequency can be eliminated after compensation so accelerometer output precision is improved consumedly.The method has exact,effective and easy operational value.%惯性器件(陀螺仪和加速度计)的性能直接影响惯导系统的精度,针对传统提高惯性器件精度途径存在的弊端,本文提出一种基于旋转机构的加速度计误差标定与补偿方法.通过将加速度计输出与输入之间的关系转换为与旋转角之间的关系,利用最小二乘法估计出加速度计的零偏、比例系数、比例系数的非线性误差系数及交叉耦合误差系数,并进行相应的误差补偿.实验结果表明,利用旋转机构能够在100 s内准确估计出加速度计的各项误差系数,经补偿后能消除误差中的倍频分量,使加速度计输出精度大大提高,具有准确、高效、易操作的特点.