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Micro inertial measurement unit screening method and combined micro inertial measurement device

An inertial measurement device and micro-inertial measurement technology are applied in directions such as navigation through speed/acceleration measurement, which can solve problems such as low precision, low reliability, and inability to effectively compensate for zero offset changes, so as to suppress random errors and save energy. Cost, effect of improving accuracy

Active Publication Date: 2019-05-24
湖南云箭格纳微信息科技有限公司
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Problems solved by technology

[0007] The purpose of the present invention is to solve the low precision and low reliability of the micro-inertial measurement unit in the application of indoor navigation and positioning, UAV attitude indication, etc. According to the technical problem that the zero bias obtained during the initial static period cannot effectively compensate the zero bias change caused by temperature changes, a screening method for micro-inertial measurement units and a combined micro-inertial measurement device are proposed

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  • Micro inertial measurement unit screening method and combined micro inertial measurement device
  • Micro inertial measurement unit screening method and combined micro inertial measurement device
  • Micro inertial measurement unit screening method and combined micro inertial measurement device

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Embodiment Construction

[0046] The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.

[0047] Such as figure 1 -shown in 4, a combined micro-inertial measurement device includes at least two micro-inertial measurement units that can measure triaxial angular velocity, and the micro-inertial measurement unit is arranged on the installation platform.

[0048] In the combined micro-inertial measurement device, there are two options for setting the micro-inertial measurement unit:

[0049] (1) All micro inertial measurement units are set on the same side of the installation platform;

[0050] (2) The micro-inertial measurement unit can be divided into two groups of micro-inertial measurement units arranged on the front and back of the installation platform.

[0051] Considering that when inertial navigation is applied to indoor positioning, the accuracy of its heading angle has a great influ...

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Abstract

The invention provides a micro-inertial measurement unit screening method and a combined micro-inertial measurement device. In the screening method, the angular velocity conversion matrix is ​​calculated according to the multi-position method, and the zero-bias data of the gyro z-axis of the combined micro-inertial measurement device is calculated, and the zero-bias data of the gyro x-axis or y-axis or z-axis of the combined micro-inertial measurement device is calculated The minimum variance of curve fitting with temperature changes is the standard screening micro-inertial measurement unit; the combined micro-inertial measurement device includes at least two micro-inertial measurement units that can measure triaxial angular velocity, and the micro-inertial measurement unit is set on the installation platform. The invention has the advantages of combining a plurality of cheap micro-inertial measurement units to construct a high-performance inertial measurement system, which saves costs, has higher reliability, reduces the influence of temperature changes on the zero bias of the gyroscope, and realizes the inertial measurement system. Effective error compensation of the measuring device.

Description

technical field [0001] The invention relates to an inertial measurement unit screening method and an inertial measurement device, in particular to a micro inertial measurement unit screening method and a combined micro inertial measurement device. Background technique [0002] The micro-inertial measurement unit consists of a three-axis micro-accelerometer and a three-axis micro-gyroscope. With the rapid development of microelectronics technology, the inertial navigation system using the micro inertial measurement unit as the inertial measurement element is widely used in mobile phones, automobiles, small drones and other platforms due to its small size, light weight, and low cost. It makes it possible to provide the platform with motion position, velocity and attitude information. As the indoor space for people's activities becomes larger and more complex, the demand for positioning and guidance in densely populated places such as shopping malls, parking lots, and transpor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 黎兵
Owner 湖南云箭格纳微信息科技有限公司
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