Compensation method for error calibration of MEMS gyroscope in MIMU

A compensation method and error calibration technology, applied in the field of calibration compensation of inertial sensors, can solve problems such as inability to perform temperature calibration, decline in compensation effect, and secondary installation errors

Inactive Publication Date: 2013-07-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

In the actual test, a turntable with a thermostat and a biaxial rotatable 360° is required to meet the requirements, but the actual application conditions generally only have a turntable without a thermostat, a biaxial rotatable 360° and a thermostat, only A single-axis 360°rotatable turntable, the turntable without a temperature box can complete the calibration of the rotation method, but it cannot perform...

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  • Compensation method for error calibration of MEMS gyroscope in MIMU
  • Compensation method for error calibration of MEMS gyroscope in MIMU
  • Compensation method for error calibration of MEMS gyroscope in MIMU

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Embodiment Construction

[0031] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0032] As shown in Figure 1, the main content of the present invention is to establish a brand-new system model according to the characteristics that the output deviation of the gyroscope and the output of the current gyroscope are in a primary relationship at the same temperature, and make full use of the MIMU structure package to determine that the three-axis gyroscope The installation relationship between them is fixed, and the non-orthogonal factor is stable and does not change with the ambient temperature. The non-orthogonal error and temperature drift error are calibrated separately. In the form of temperature segmentation, the normal temperature calibration of the three-axis gyroscope is completed using the static six-position method and the forward and reverse uniform rotation method on a two-axis 360°rotatable turntable without a temperatur...

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Abstract

The invention discloses a compensation method for error calibration of an MEMS gyroscope in an MIMU. The method uses a novel error model of the MEMS gyroscope. The method can complete calibration for non-orthogonal errors and temperature errors of the MEMS gyroscope in cases of existing devices: a rotary table with a thermostat and a single shaft being capable of rotating in 360 DEG, and a rotary table without a thermostat and with dual shafts being capable of rotating in 360 DEG; and does not introduce secondary mounting errors, thereby ensuring a calibration precision, overcoming restrictions of calibration devices, and well compensating non-orthogonal errors and temperature drift errors. According to the invention, in a full temperature range, a maximum output error of the MEMS gyroscope is only 0.2 DEG/s, and triaxial errors are also consistent.

Description

technical field [0001] The invention relates to the technical field of calibration compensation for inertial sensors, in particular to an error calibration compensation technology for MEMS gyroscopes in MIMUs. Background technique [0002] MIMU (Micro Inertial Measurement Unit, Micro Inertial Measurement Unit) is an inertial navigation system that uses MEMS (Micro Electro-Mechanical System, inertial sensor), such as a gyroscope and a gyroscope, as an inertial measurement element. The silicon micro gyroscope manufactured by MEMS technology has the characteristics of small size, light weight, and low cost. It is the main inertial measurement component used in the current micro attitude system. [0003] In an ideal state, the sensitive axis directions of the three gyroscopes in the MIMU should be perpendicular to each other and coincide with the reference frame. In fact, due to the limitations of PCB board processing technology and assembly technology, the input shaft system o...

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Application Information

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IPC IPC(8): G01C25/00
Inventor 王小春李荣冰刘建业孙永荣杭义军曾庆化熊智
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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