Non-oriented multi-position and high-precision calibrating method for inertial measuring unit

Abstract

An astatic multi-position high-accuracy calibrating method of inertia measurement unit can accurately calibrate out 33 error coefficients in 7 types such as gyroscope scale factor gyroscope erection error, accelerometer scale error, etc by making IMU rotate at six position with 12 times of rotation under condition that accurate rotary platform is not pointed at north.

Description

technical field The invention relates to a method for accurately calibrating the error coefficient of an inertial measurement unit (Inertial Measurement Unit, IMU) by using a precision turntable, which can be used for calibrating a flexible gyro IMU, a liquid floating gyro IMU, or a MEMS gyro IMU. Background technique Strapdown Inertial Navigation System (SINS) is a precision instrument for measuring the position, velocity and attitude of a moving carrier. The advantages of simplicity, low cost, and high reliability have become the main development direction of inertial navigation technology. Inertial Measurement Unit (IMU) is composed of gyroscope, accelerometer and related circuits. It is the core of strapdown inertial navigation system. Its error includes two parts: deterministic error and random error. The deterministic error is the system error of about Accounting for about 90% of the total error, it is the main error source of the SINS. Therefore, before using the S...

AI Technical Summary

Problems solved by technology

Usually, theodolite and other high-precision measuring instruments are used to realize the precise orientation of the inertial measurement unit. This process is very complicated, which further reduces the efficiency of calibration.

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