Rapid online dynamic calibration method for zero offset of GNSS (Global Navigation Satellite System) auxiliary MEMS (Micro Electro Mechanical Systems) inertial sensor
An inertial sensor, dynamic calibration technology, applied in instruments, measuring devices, etc., can solve the problems of inappropriate use environment of parameters, working accuracy error, zero bias repeatability, unfavorable system performance maintenance and improvement, etc.
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[0038] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0039] A kind of fast online dynamic calibration method of GNSS assisted MEMS inertial sensor zero bias, described MEMS inertial sensor comprises the MEMS accelerometer and MEMS gyroscope that constitute MEMS inertial measurement unit; In GNSS / MEMS INS integrated navigation system, through online comparison by The modulus of the total specific force derived by GNSS and the modulus of the total specific force obtained by the output of the MEMS accelerometer are used to calibrate the zero bias of the accelerometer in real time; by using the velocity information measured by GNSS, the attitude information obtained online is derived and added with a constant velocity or Approximate uniform linear motion or static constraints to calibrate the zero bias of the gyroscope in real time; the MEMS refers to the micro-electromechanical system, the GNSS refer...
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