An error compensation method for inertial measurement unit
An inertial measurement unit and error compensation technology, applied to measuring devices, instruments, etc., can solve the problems of ineffectiveness, half the effort, and long time-consuming problems, and achieve the effects of improving work efficiency, improving calibration efficiency, and shortening calibration time
Active Publication Date: 2017-11-24
BEIJING INFORMATION SCI & TECH UNIV +1
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Problems solved by technology
However, using traditional calibration methods to calibrate such devices takes a long time and does not achieve good results.
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[0022] The invention discloses an error compensation method of an inertial measurement unit, the purpose of which is to improve the measurement accuracy of a low-cost inertial measurement unit, and at the same time, it can be implemented quickly to improve the production efficiency of the inertial measurement unit.
[0023] A kind of inertial measurement unit error compensation method that the present invention proposes, its steps are as follows:
[0024] The first step is to fix the inertial measurement unit on the three-axis turntable and determine the installation datum of the inertial measurement unit
[0025] Fix the inertial measurement unit on the three-axis turntable through tooling, so that the measurement axis coincides with the three-axis rotation axis of the three-axis turntable, that is, the x-axis of the three-axis turntable corresponds to the x-axis of the low-cost inertial measurement unit, and the y of the three-axis turntable The axis corresponds to the y-axi...
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The invention discloses an error compensation method for an inertial measurement unit, which is capable of improving measurement accuracy and is also capable of rapidly being implemented rapidly so as to improve the production efficiency of the inertial measurement unit. The method comprises the following main steps of fixing the inertial measurement unit on a three-axle table so as to determine the mounting standard; determining the coarse calibration zero coefficient and coarse coefficient proportionality coefficient of the inertial measurement unit; placing the inertial measurement unit into a high-low temperature tank to determine the temperature Monomial coefficient and temperature quadratic term coefficient; fixing the inertial measurement unit on the three-axle table to determine the error coefficient of the proportionality coefficient; determining the inertial measurement unit cross-coupling coefficient; collecting one-hour inertial measurement unit output to determine the random error coefficient; and finally testing the repeatability of the inertial measurement unit.
Description
technical field [0001] The invention relates to an inertial measurement unit error compensation method, in particular to an inertial measurement unit error compensation method. Background technique [0002] Inertial measurement unit calibration is the premise of inertial navigation, and the quality of the calibration results will have a direct impact on the accuracy of inertial navigation. Low-cost inertial measurement unit, due to the use of low-cost inertial devices, its output accuracy has been greatly reduced. The low-cost inertial measurement unit referred to in this patent consists of an accelerometer and a gyroscope. The accelerometer in the low-cost inertial measurement unit may be a three-axis accelerometer, preferably a low-cost three-axis accelerometer. The gyroscope in the low-cost inertial measurement unit may be a three-axis gyroscope, preferably a low-cost three-axis gyroscope. However, using traditional calibration methods to calibrate such devices takes a...
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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 苏中李擎范军芳高可解迎刚刘宁付国栋
Owner BEIJING INFORMATION SCI & TECH UNIV