摘要
MEMS陀螺仪作为低成本惯性测量单元在物体姿态监测与导航控制中有着广泛应用。根据三轴数字陀螺仪的数学模型,设计了三轴数字陀螺仪的标定实验,介绍了数学模型中陀螺仪标度因数、安装误差系数以及零偏移值的计算与处理方法。理论分析与实验结果表明:该标定方法原理简单、易于实现,且标定结果精度高,标定后的解算矩阵可为后续姿态解算和导航控制提供较为准确的量测数据,同时,该标定过程和数据处理方法对MEMS三轴数字陀螺仪的标定具有一定的参考价值。
MEMS gyroscope has broad application in objects posture monitoring and navigation control as low-cost inertial measurement unit.A 3-axis digital gyroscope calibration experiment is designed based on mathematical model of MEMS 3-axis digital gyroscope.The processing method of scale factor,installation error coefficient,and value of zero bias of MEMS 3-axis digital gyroscope in mathernatical model is introduced.Theoretical analysis and experimental results show that this calibration method is simple in principle,easy to implement and has high calibration precision.The solving matrix after calibration can provide more accurate measurement data for the following attitude resolve and the navigation control,while the process of calibration and data processing methods have certain reference value for MEMS 3-axis digital gyroscope calibration.
出处
《传感器与微系统》
CSCD
北大核心
2013年第6期63-65,69,共4页
Transducer and Microsystem Technologies
基金
机器人学国家重点实验室开放课题资助项目(2012-O02)
