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Quick calibration method for inertial measurement unit

A technology of inertial measurement unit and calibration method, which is applied in measurement devices, testing/calibration of velocity/acceleration/shock measurement equipment, velocity/acceleration/shock measurement, etc. , the effect of improving the calibration efficiency and accuracy

Active Publication Date: 2013-01-09
WUHAN YIDELU POSITION TECH CO LTD
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  • Description
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AI Technical Summary

Problems solved by technology

[0004] Most of the traditional calibration methods rely on professional calibration equipment, or take a long time, and it is difficult to meet the requirements of consumer products that do not rely on external equipment, are fast, simple and easy

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  • Quick calibration method for inertial measurement unit
  • Quick calibration method for inertial measurement unit
  • Quick calibration method for inertial measurement unit

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Embodiment Construction

[0029] The present invention keeps the IMU static or quasi-static for a short period of time (just a few seconds) for the initial alignment of the inertial navigation system, controls the IMU to rotate in space around its measurement center (or approximately around its measurement center), and selects the estimated method and model the method, use the pseudo position or pseudo speed information proposed in the present invention as the measurement information to estimate and calculate, provide IMU parameters, and compensate the direct measurement values ​​of the subsequent gyroscope and accelerometer according to the calibration model Then the IMU can enter the normal working state. All IMU operations mentioned in the present invention can be performed manually, or other machine equipment (such as a turntable) can be used to generate calibration motion. The invention is used to calibrate an inertial measurement unit (IMU). The inertial measurement unit mentioned in the present...

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Abstract

The invention relates to a quick calibration method for an inertial measurement unit (IMU). According to the method, twelve error coefficients such as gyro zero bias, scale factor, accelerometer zero bias and scale factor can be calibrated precisely within a short time just by holding and rotating the IMU to traverse directions by a user without using any external devices. The quick calibration method for the IMU provided by the invention has the characteristics of no hardware cost, high efficiency and simpleness and practicability, and a certain calibrating precision can be ensured. The quick calibration method for the IMU is in particular suitable for quick calibration in the field of middle-precision and low-precision IMUs, the environment sensitive problems of parameters of micro-mechanical IMUs are effectively solved, and popularization and application of MEMS (Micro-electromechanical Systems) inertial components are promoted.

Description

technical field [0001] The invention relates to the technical field of micro-electromechanical systems, in particular to a quick calibration method for an inertial measurement unit. Background technique [0002] In recent years, with the development of MEMS (Micro-Electro Mechanical Systems) technology, the MEMS IMU (inertial measurement unit) has low cost (in large batches), small size, light weight, low power consumption, and high reliability. The advantages make it widely used in all aspects of people's lives. More and more consumer products are equipped with three-axis gyroscopes and accelerometers, which constitute MEMS IMUs, and users can choose the applications they are interested in, such as games, multimedia, personal navigation, etc. [0003] However, it is still an obvious problem that MEMS sensor performance (especially zero bias and scale factor) varies greatly with the use environment (especially temperature). This problem can be solved by calibration, that i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005G01P21/00
Inventor 牛小骥李由张全刘川川章红平施闯
Owner WUHAN YIDELU POSITION TECH CO LTD
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