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A precision measurement and calibration method for inertial devices

A technology of precision measurement and calibration method, applied in the field of precision measurement and calibration of inertial devices, can solve the problems of jig size error, jig production, and tedious placement, and achieve the effect of avoiding the deadlock of the universal joint

Active Publication Date: 2018-03-02
深圳飞马机器人科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

But this will introduce the size error of the fixture, and the production and placement of the fixture are more cumbersome

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  • A precision measurement and calibration method for inertial devices

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Embodiment Construction

[0010] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0011] This embodiment provides an accuracy measurement and calibration method for inertial devices, which is mainly used for the accuracy measurement and calibration of the gyroscope in the navigation inertial measurement unit, wherein, such as figure 1 As shown, the precision measurement and calibration method includes the following steps: first step S1: start, then step S2: configure the internal rotation axis of the gyroscope, wherein the rotation axis refers to the x-axis, y-axis and z-axis inside the gyroscope, and the gyroscope The default configuration of the internal rotation axis of the instrument is that the front is the x-axis, the front side is the y-axis, and the bottom is the z-axis. Specifically, the internal rotation axes of the gyroscope, that is, the x-axis and y-axis are respectively rotated around the z-axis by a certain ...

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Abstract

The invention discloses a precise measurement calibration method for an inertial component. The method comprises the following steps: S1, starting; S2, configuration of internal rotating axes of a gyroscope; S3, recording and calibration of the angular velocity and the yaw angle of a z-axis; S4, recording the angular velocity, the roll angles and the pitch angles of an x-axis and a y-axis; S5, calibration of the angular velocity, the roll angles and the pitch angles of the x-axis and the y-axis; S6, calibration finishing. According to the method, the internal rotating axes of the gyroscope are configured before gyroscope calibration, and such methods as coordinate transformation and vector decomposition are utilized for processing of experimental data, so as to obtain a final calibration result; meanwhile, the gyroscope is matched together with an attitude solution module for calibration of the angle attitude, so as to protect a universal joint from locking, prevent a divergent attitude solution in the angle calibration process, and obtain the correct result.

Description

technical field [0001] The invention relates to the calibration technology of inertial devices, in particular to a method for measuring and calibrating the precision of inertial devices. Background technique [0002] The MEMS inertial measurement unit (IMU for short) used for navigation needs to be calibrated before use. Among them, the angular velocity of the gyroscope is calibrated using a high-speed turntable, and the three orthogonal rotation axes (x-axis, y-axis , z-axis) for measurement calibration. If the turntable is a single-axis turntable, it must be measured three times to complete the calibration. [0003] Secondly, the gyroscope used for navigation is mainly used in conjunction with the attitude calculation module to convert angular velocity into angular attitude output. Therefore, the calibration of the angle is also very necessary. When a single-axis turntable is selected, the angles of the three rotation axes (roll angle, pitch angle, and yaw angle) need t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 敬劼余正宁支晓栋
Owner 深圳飞马机器人科技有限公司