一种MIMU器件标定和数据处理方法_刘婷.pdf

第四届中国卫星导航学术年会电子文集 The Method of MIMU Calibration and Data Processing Ting Liu, Wei Liu, Qifeng Lai, Hong Yuan 1 1. Academy of Opto-electronic, Chinese Academy of Science, CAS, Beijing, China 1. liuting@aoe.ac.cn Abstract: The effectiveness of traditional turntable calibration method has not been fully verified on MEMS inertial equipment. In this paper, the MEMS gyro and accelerometer are separately calibrated by rate experiment and position experiment on turntable of two degree of freedom. The calibration results show that the MEMS gyro bias repeatability is poor. Based on this situation, a combined calibration method of turntable calibration and boot online calibration of gyro bias is proposed. Finally, the effectiveness of this method is verified with real static data of IMU440CA-200 by inertial navigation performance. The results show that this method can effectively improve the accuracy of calibration of MEMS inertial equipment and the attitude error is controlled within 1 degree with error compensation. Keywords: MIMU; calibration ; compensation ; boot online calibration of gyro bias MIMU 1 1．中国科学院光电研究院，北京，中国，100094 1. liuting@aoe.ac.cn MEMS MIMU IMU440CA-200MIMU MEMS100s 1 MIMU 1 单元中微机械陀螺非正交安装误差的标定；文献[3]提 出一种借助于机器视觉技术标定微机械惯性测量单元 在捷联惯导系统中，惯性器件（陀螺仪和加速度 的方法。但是MEMS陀螺漂移受温度影响很大，且逐 计）的测量误差是影响惯性导航精度的主要因素，为 次启动漂移变化很大，转台标定结果不一定同微机电 了保证导航精度，必须减小惯性器件测量误差的影响。 惯性器件实际使用时的启动漂移一致，补偿效果可能 通过建立惯性器件的精确误差模型，对各项误差系数