微惯性测量单元的误差整机标定和补偿

摘要

The entire calibration and compensation method of a Miniature Inerial Measurement Unit (MIMU) in high dynamic and overload complicate environments was proposed. Firstly, an error model applied to the complicate application environments was established,which consists of the structure errors, installation misalignment errors and the errors of the MEMS sensors including zero output drift, temperature drift, cross-axis error, nonlinear scale factor error and acceleration effect error of gyroscope. Based on the model,the entire calibration and compensation method was proposed to calibrate 63 error coefficients without calibration of each MEMS inertial sensor separately. Then, the generalized least square algorithm was used to calibrate and calculate the error coefficients. Finally, a MIMU was developed for a flight experiment and was calibrated with this proposed method. Experimental results indicate that the positioning accuracy is improved by 1 order of magnitude. It can satisfy the high dynamic and overload requirements of the MIMU.%提出了微惯性测量单元(MIMU)在高动态、高过载复杂应用条件下的误差整机标定和补偿方法.首先,建立了高动态,高过载复杂应用条件下MIMU的误差模型,该模型包括了结构误差,传感器安装误差和MEMS惯性传感器在复杂条件对精度影响较大的误差项,指零位温度漂移、互耦误差、刻度因子非线性和微陀螺加速度效应误差;根据模型提出了整机标定补偿方法,该方法可以标定MIMU的63个误差系数,并且不需要对单个传感器进行标定.然后,介绍了利用最小二乘法对模型进行误差系数标定的方法和步骤,并对自研的MIMU进行了标定.最后,通过飞行实验对MIMU进行了验证.结果表明,使用该方法使定位精度提高了一个数量级,基本满足MIMU在高动态、高过载条件下的精度要求.