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CALIBRATION METHOD OF MULTIPLE INERTIAL MEASUREMENT UNITS ON MULTI-LINKAGE SYSTEM
CALIBRATION METHOD OF MULTIPLE INERTIAL MEASUREMENT UNITS ON MULTI-LINKAGE SYSTEM
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机译:多连杆系统中多个惯性测量单元的标定方法
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摘要
The invention discloses a calibration method for multiple IMU on multi-linkage system, the system comprising: a plurality of IMUs, wherein the plurality of IMUs is respectively arranged in a plurality of links of the multi-linkage system. Each of the IMUs further includes an accelerometer, a magnetometer, a gyroscope, and a calculation and compensation unit (CCU); the calibration method includes: CCU selecting the communication channel and initializing parameters; CCU selecting the communication channel and performing object vector information calculation, rotation compensation, and installation error compensation respectively; calculates the angle between each IMU and the position endpoints of each IMU; and outputting the compensated object vector information, the angle, and the endpoint positions.
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