惯性测量组件整体标定技术

摘要

研究了惯性测量组件中陀螺与加表的标度系数、零偏、安装耦合误差等的标定问题.建立了陀螺与加表的输入输出模型,提出了在三轴摇摆转台上利用六位置试验法对加表标度系数、零偏、耦合误差进行标定的方法;提出了在三轴摇摆转台上利用正负对称的多组速率试验法以及最小二乘法对陀螺标度系数、零偏、耦合误差进行标定的方法,以及利用六位置试验对陀螺与g有关量进行标定的方法.详细介绍了组件输出参数的测量方法并推导误差计算公式.理论分析表明,该方法可在三轴转台上通过位置与速率试验一次性标定出测量元件的相关误差,具有一定的工程应用价值.%System calibration techniques for inertial measurement units are discussed. The input-output models of gyroscope and accelerometer are analyzed. In order to calibrate the scale factors, zeros bias and installing coupled errors of accelerometer and gyroscope, the calibration methods based on six position and velocity test on three-axis motion simulated table are given, and in order to calibrate the variable about gravity, a calibration method based on the above position test and least square is given. The measuring principles about the associated parameters are discussed in detail, and the formulas are deducted. Theory analysis indicates that the above method can accurately calibrate the above errors.