摘要
微惯性测量单元(MIMU)使用离心机标定时,内部加速度计组集成安装误差和MIMU安装误差,导致加速度计实际受到的离心加速度激励与设置不一致,引入输入误差,影响标定精度。基于减小输入误差定标的影响,提出一种消除加速度输入误差的标定分析方法。基于离心机标定时MIMU中加速度计正反向输入状态下安装误差对称的关系,在误差模型方程中引入安装误差项,通过对两种状态下输入取代数平均,消除安装误差项。利用最小二乘法解得加速度计组误差模型系数,对加速度计组进行补偿。经试验验证:本文方法极大地提高了加速度计的精度,标度因数精度提高3.62%,交叉耦合从1.4%降低至0.16%,零偏从4.9 mgn降低至0.9 mgn。
When micro-inertial measurement unit(MIMU)is calibrated by centrifuge,integrated installation error and MIMU installation error of internal accelerometer group will cause actual centrifugal acceleration excitation of the accelerometer to be inconsistent with the set,input error is introduced,which affect the calibration precision.Based on reducing the influence of input error calibration,a calibration analysis method is proposed to eliminate input error of acceleration.The method is based on the symmetrical relation of installation error in the positive and negative input state of the MIMU accelerometer during the centrifuge calibration.The installation error term is introduced into the error model equation,and the installation error term is eliminated by averaging the number of substitutions between the input and output in the two states.The error model coefficients of the accelerometer group is calculated by using the least square method,and compensated.Experiment verifies that the method greatly improved the precision of the accelerometer,and scale factor precision is improved by 3.62%,cross-coupling is reduced from 1.4%to 0.16%,and the zero bias is reduced from 4.9 mgn to 0.9 mgn.
作者
张睿哲
刘玉县
何春华
庄捷辉
吴涛
ZHANG Ruizhe;LIU Yuxian;HE Chunhua;ZHUANG Jiehui;WU Tao(Institute of Technology,Shantou University,Shantou 515000,China;Institute of Microelectronics,Peking University,Beijing 100871,China)
出处
《传感器与微系统》
CSCD
北大核心
2021年第10期36-39,共4页
Transducer and Microsystem Technologies
