Compensation method for error calibration of MEMS gyroscope in MIMU

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...

AI Technical Summary

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 temperature calibration; while the turntable with a temperature box cannot complete the calibration under the premise of one-time clamping

If a turntable with a temperature box is used for calibration, the system installation method must be replaced during the calibration process, which will introduce secondary installation errors to the final calibration results, resulting in a greatly reduced compensation effect

Images