摘要
讨论和分析了标定一种低成本MEMSINS传感器的方法和过程,MEMS传感器价格低廉但是误差很大,因此对其进行精确的标定对减少系统误差有很大的作用,包括零偏、刻度因子以及未对准误差和非正交误差等。通过对陀螺误差进行建模分析,利用卡尔曼滤波对数据进行处理,使用不需要传感器与测试平台精确对准的多位置对准方法来标定加速度计参数,结果表明陀螺的系统方差有很大改善,同时在静态情况下进行导航解算,表明标定结果有效。
The method and the procedure of the calibration of a low cost MEMS INS sensor are described and discussed. The MEMSs sensors＇ price is cheap, but these sensors are characterized by much large errors. It is.very important to accurate calibration of the sensors for the determination of the systematic errors, such as bias, scale factor,misalignment and nonorthogonality of the axes. By the analysis of gyro＇s error to model the gyro＇s output, and use the Kalman filter to deal with the date, then to use the multi-position calibration method that doesn＇t require the precise aligned mounting of the sensors with either local level frame or to the vertical direction. The results show that the variances of gyro have large improved, tests of the navigation outputs in the static case show the calibrations are valid.
出处
《传感技术学报》
CAS
CSCD
北大核心
2009年第11期1670-1674,共5页
Chinese Journal of Sensors and Actuators
基金
总装备部"十一五"预研课题资助(51309030102)
