MEMS (micro-electromechanical system) three-axis gyroscope error calibration method

An error calibration and gyroscope technology, applied in the field of testing, can solve the problems of low calibration angle, large amount of calculation, complex model establishment, etc.

Inactive Publication Date: 2014-05-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, this method is difficult in error separation technology, and the calibration and calculation workload is large, and the gyro bias value of the MEMS gyroscope drifts greatly, resulting in a low calibration angle, which is not suitable for the calibration of MEMS gyroscopes

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  • MEMS (micro-electromechanical system) three-axis gyroscope error calibration method
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  • MEMS (micro-electromechanical system) three-axis gyroscope error calibration method

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[0034] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0035] (1) Establish the error correction model of the MEMS three-axis gyroscope. The error of MEMS gyroscope is mainly manifested as fixed constant error, scale factor error and non-orthogonal error of the installation axis of the gyroscope. The constant value error is the error caused by the non-zero zero point of the sensor, the analog circuit and the A / D conversion and the error caused by the data offset. The scale factor error is the error caused by the inconsistency between the scale factor and the preset scale factor in the actual working environment.

[0036] Fixed constant error ω 0 = ω x 0 ω ...

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Abstract

The invention relates to an error calibration method of an MEMS (micro-electromechanical system) three-axis gyroscope, which belongs to the technical field of tests. The method comprises the steps of establishing an error correction model of the MEMS three-axis gyroscope, calibrating the MEMS gyroscope by a bi-axis speed turntable, collecting the output of a three-axis sensor of the MEMS gyroscope under different gestures in one constant-speed field, and obtaining a constant error, a calibration factor error and a non-orthogonal error of the MEMS gyroscope by a least-square ellipsoid fitting algorithm. The method is simple to operate and short in calibration time, has low requirements on a calibration device, and is suitable for rapidly calibrating the low-cost MEMS gyroscope.

Description

technical field [0001] The invention relates to an error calibration method for a MEMS three-axis gyroscope, belonging to the technical field of testing. Background technique [0002] MEMS gyroscope is a kind of inertial measurement unit that uses MEMS (MicroElectro-MechanicalSystem) technology to measure the angular rate of moving objects. Because of its advantages of small size, light weight, low cost and high reliability, it promotes micro strapdown With the rapid development of guidance systems, extensive research has been done in the fields of unmanned aerial vehicles and precision guided weapons. However, this type of MEMS gyroscope is easily affected by a series of factors such as its own material, manufacturing level, and working environment, and its performance is generally not high. Generally speaking, the errors of gyroscopes are mainly divided into deterministic errors and random errors. The former mainly refers to errors caused by disturbance (parameter changes...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 杜小菁兰晓阳倪书豪翟俊仪涂海峰李怀建
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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