Gyro drift estimation and compensation method and device based on inertial measurement unit rotation

Abstract

The invention discloses a gyroscopic drift estimation compensation method and device based on rotation of an inertial measurement unit, belonging to the technical field of inertial navigation. The gyroscopic drift estimation compensation device comprises an inertial measurement unit, a rotation platform, a control unit and a calculating unit, wherein the inertial measurement is used for measuring an angular rate and an acceleration respectively by using a gyroscope and an accelerometer which are integrated; the calculating unit is used for calculating inclinations of the inertial measurement unit respectively through the angular rate and the acceleration; the rotation platform controls the inertial measurement unit to rotate to change a gesture; the estimation on the drift of the gyroscope is realized through a mathematic relation between inclinations and drifts of the gyroscope under different gestures before and after rotation, and the drifts are compensated so that the gesture positioning precision is improved. The gyroscopic drift estimation compensation method and device have the characteristics that the drifts of the gyroscope can be estimated, and the accumulated error of a long-term altitude angle, especially a course angle, is reduced through controlling the rotation of the inertial measurement unit without assistance of a magnetic field meter or a GPS (Global Position System) and other external sensors.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a method and device for gyro drift estimation and compensation based on the rotation of an inertial measurement unit, which is suitable for attitude positioning of a mobile robot using an inertial measurement unit in an operating environment such as indoors and strong magnetic interference. Background technique [0002] Inertial navigation is a common attitude measurement method. Attitude information can be calculated by integrating the angular velocity of motion measured by the three-axis gyroscope. However, due to the drift problem of the gyroscope, a large error will be generated in the long-term cumulative calculation. It is necessary to use the information obtained by other sensors to estimate the drift of the gyroscope and compensate for the error. [0003] Existing gyroscope drift estimation and compensation methods, such as the patent "Method for ...

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Problems solved by technology

The disadvantage of this method is that it is not suitable for application in the environment with strong magnetic field interference around

Such as the patent "Angular Velocity Error Correction Device and Correction Method for Vehicle Gyroscope" (CN103206965A), the vehicle speed detected by the GPS receiver and anti-counterfeiting are used to correct the angular velocity error output by the gyroscope sensor. The disadvantage of this method is: no Suitable for applications in closed spaces with weak GPS signals, such as indoors, coal mines, etc.

[0004] Existing devices and methods for single-axis or multi-axis rotating inertial devices, such as the patent "a dual-axis rotating optical fiber strapdown inertial navigation device" (CN102980578), the disadvantage of this type of device and method is that it does not have drift estimation function, when the rotational movement cannot offset the drift of the gyroscope, the application of the device and method is limited

However, when the magnetometer and GPS signals are unreliable in the operating environment, the application of these additional sensors and related gyroscopic drift estimation methods is limited

For example, a wall-climbing mobile robot for surface detection of large hydraulic turbine blades, because the robot’s working environment in the pit is a closed space with strong magnetic field interference, the existing attitude positioning method cannot be applied

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