A gyroscope bias estimation method

Abstract

The invention discloses a gyroscope zero-bias estimation method. The method comprises the following steps: S1, measurement values Xgi, Ygi and Zgi of an X axis, a Y axis and a Z axis of each of i gyroscopes and measurement values Xai, Yai and Zai of the X axis, the Y axis and the Z axis of corresponding accelerometer are acquired in an alignment stage, the quadratic sum Sai of the measurement values of the X axis, the Y axis and the Z axis of each accelerometer is obtained, and Sai is equal to the sum of Xai<2>+Yai<2> and Zai<2>; S2, the average value and the variance of Xgi, Ygi, Zgi and Sai of each of i gyroscopes and the corresponding accelerometer are calculated and obtained respectively; S3, current data of the X axis, the Y axis and the Z axis of each gyroscope and the corresponding accelerometer are acquired at an interval of preset frequency with the acquisition method in the step S1, and Xgk, Ygk, Zgk and Sak are obtained correspondingly; S4, whether Sak obtained in the step S3 meets the inequality: Avg_Sa*(1-Var_Sa)<=Sak<=Avg_Sa*(1+Var_Sa) is judged, and if the answer is positive, Avg_Xg, Avg_Yg and Avg_Zg are input into a least squares estimator as initial values of zero-bias estimation values of the gyroscopes, meanwhile, Xgk, Ygk, Zgk and Sak are input into the least squares estimator, and an updated zero-bias estimation value is obtained.

Description

technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a gyroscope zero bias estimation method. Background technique [0002] With the development of industrialization 4.0, intelligent robots, drones, etc., more and more application fields need to use inertial navigation devices to provide inertial value measurement, such as moment of inertia, acceleration value, attitude angle information, etc. At present, the raw data of accelerometer and gyroscope are mainly used for rough alignment, and then the alignment result is used to adjust the IMU (Inertialmeasurement unit, which includes gyroscope and accelerometer) (the IMU is fixed on the turntable, and the turntable is used to adjust the IMU). The IMU is rotated, and the rotation angle is opposite to the angle of the alignment result, so that the IMU is adjusted to the geographic coordinate system, but there is a certain error), and then a series of flips are perfor...

AI Technical Summary

Problems solved by technology

However, the existing solutions have the following problems. The rest of the rotation positions use the position after the first adjustment as a reference, so that each adjustment will make the accumulation of errors larger and larger. Therefore, the traditional gyroscope zero bias estimation method can only It is carried out under static conditions, so that the application system in dynamic cannot obtain accurate gyroscope zero bias estimation values, and then obtain inertial measurement values ​​with large errors. The traditional method seriously reduces the accuracy of the calculated error parameters, and even unable to work properly

Images