MEMS传感器的惯性测量模块的设计与初始校准.pdfVIP

( T ran sducer and M ic rosystem T echno log ies) 2006 25 10 82 MEMS* 王建东, 刘云辉, 樊玮虹, 范才智 ( , 410073) : (M EM S) , , , N ew ton : : N ew ton : TP212 : A : 1000 - 97 87 ( 200 6) 10 - 0082 - 04 Design and calibration for an inertialmeasurement unit using * MEMS sensors WANG J ian-dong, L IU Y un-hu i, FAN W e-i hong, FAN Ca-i zhi ( College of Electric Science and Engineering, N ational Uni ersity of D efense Technology, Changsha 410073, China) Abstract: T he design o f 3-D inertial m easurem ent unit( IM U ) is presented, w h ich consists of 3-D acce lerom eters, 3-D gyroscop es and 3-D m agne tic sen sors. It has cha racte ristics w ith v ery sm a ll size, low pow e r con sum ption and inexp en siv e, and it can be app lied in the location system o f m icro robot and the con tro l system o f ae rial robot contro l eas ily. T he e rror sources of th is IMU and the the non-orthogonal e rror m ode l are ana lysed. T he autom atic initial ca libration b ased on N ew ton. s m e thod is mi plem ented. T he exp er mi ents show the ca libra tion can reduces the o ffset error, scaling erro r and non-orthogonal error eff ic iently. K ey words: M EM S ine rtia lm easurem ent un it N ew ton. s m ethod autom atic in itia l ca libra tion 0 , ( inertia l nav igation system, IN S) , , , , , [ 1~ 3] 1 , IN S