Method for calibrating connected MEMS gyro dynamic error

Abstract

A method for calibrating the dynamic error of the strapdown MEMS gyroscope, which can identify all the dynamic error coefficients of the strapdown MEMS gyroscope. The strapdown MEMS gyro zero bias, scale factor, installation error coefficient, and the error coefficient of the gyro and the square of the angular velocity are obtained; the three-coupling azimuth dynamic test is used to calibrate the error coefficient of the three angular velocity coupling quadratic terms of the gyro; using the three-axis rate turntable Set the initial angle of the three-axis, input the same uniform angular velocity Ω to the YT axis of the three-axis turntable in the middle frame and the ZT axis of the outer frame at the same time, and stimulate the dynamic error term including the angular acceleration error, so as to calibrate the gyro and angular acceleration related term error coefficients. The invention can accurately calibrate all the dynamic error coefficients of the strapdown MEMS gyroscope only by using the three-axis rate turntable, has high error identification accuracy, and can provide reference for traditional mechanical gyroscopes and optical fiber gyroscopes.

Description

technical field [0001] The invention relates to a method for calibrating dynamic errors of strapdown MEMS gyroscopes. All dynamic error item coefficients of strapdown MEMS gyroscopes can be calibrated by using a three-axis rate turntable. It can be applied to the error calibration of all strapdown MEMS gyroscopes, and can provide a reference for the dynamic error calibration of traditional mechanical gyroscopes and fiber optic gyroscopes. Background technique [0002] The gyro is the core device of the inertial navigation system, which determines the working accuracy of the inertial navigation system. With the development of silicon MEMS technology, MEMS gyroscopes with low cost, small size and low power consumption have been widely used in the guidance systems of micro-miniature systems and tactical weapons, and will be the most important medium and low-precision angular velocity sensors in the future. In the strapdown inertial navigation system, the various disturbance mo...

AI Technical Summary

Problems solved by technology

The error separation technology of this method is difficult, and the calibration and calculation workload is large. Due to the dynamic error coupling and the drift of the gyro zero bias constant value, the calibration error is large and the accuracy is low.

This method is not suitable for dynamic error calibration of strapdown MEMS gyroscopes because of the large drift of the zero bias of strapdown MEMS gyroscopes, resulting in lower calibration accuracy

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