Inertial measurement unit and geomagnetic sensor integral calibration device and calibration method

An inertial measurement unit and geomagnetic sensor technology, applied in the field of navigation, can solve the problems of complex calibration methods, low measurement accuracy, and high cost of calibration equipment, and achieve the effects of improving accuracy and reliability, reducing costs, and avoiding mechanical installation

Inactive Publication Date: 2019-11-19
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Problems solved by technology

[0004] In order to solve the problems of high cost of calibration equipment for existing inertial measurement units, complex calibration methods, and low measurement accuracy due to errors in the compensation technology of existing geomagnetic sensors, the present invention provides an integral calibration device and calibration of inertial measurement units and geomagnetic sensors. method

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  • Inertial measurement unit and geomagnetic sensor integral calibration device and calibration method
  • Inertial measurement unit and geomagnetic sensor integral calibration device and calibration method
  • Inertial measurement unit and geomagnetic sensor integral calibration device and calibration method

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specific Embodiment approach 1

[0028] Specific implementation mode 1. Combination Figure 1 to Figure 6 To illustrate this embodiment, the inertial measurement unit and the overall calibration device of the geomagnetic sensor are combined figure 1 and Figure 4This embodiment is described, including a set of dual-antenna GNSS / SINS high-precision integrated navigation system, a telephoto high-resolution industrial camera 2 and a calibration hexahedron tooling 4 . Each surface of the hexahedral tooling is coated with a high-precision two-dimensional square augmented reality cooperation target with different IDs. The high-precision integrated navigation system and the high-resolution industrial camera are fixed through the metal plate pole 5, and the baseline length between the antennas is guaranteed to be more than 1.5m to ensure that the noise of the reference heading angle is kept at a small level. The dual-antenna GNSS / SINS high-precision integrated navigation system is used as the benchmark test equipme...

specific Embodiment approach 2

[0039] Specific embodiment two, combine Figure 7 Describe this embodiment, this embodiment is the calibration method of the inertial measurement unit and the geomagnetic sensor overall calibration device described in the first specific embodiment, and its specific calibration process is as follows:

[0040] 1. Place the reference navigation system and the calibration hexahedron on the same horizontal plane. In order to ensure the measurement accuracy, minimize the distance between the camera and the hexahedron;

[0041] 2. Establish the calibration model of the sensor of the measured object,

[0042] The model of the accelerometer is

[0043]

[0044] in, is the specific force after calibration; is the specific force of the original output of the accelerometer; b a is the zero bias of the accelerometer, w a Indicates the accelerometer noise level; K a is the matrix of accelerometer scale factors and mounting coupling coefficients.

[0045] The calibration model of...

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Abstract

The overall calibration device and calibration method for an inertial measurement unit and a geomagnetic sensor relates to the field of navigation technology and solves the problems of high cost of calibration equipment for the existing inertial measurement unit, complicated calibration methods, and low measurement accuracy due to errors in the compensation technology of the existing geomagnetic sensor. , connect the high-resolution telephoto industrial camera with the dual-antenna GNSS / SINS integrated navigation system, the reference integrated navigation system measures the position of the earth system and the attitude angle of the local geographic system, look up the table to obtain the theoretical geomagnetic field strength value, and calculate the theoretical specific force and angular velocity, transmitted by the optical reference, calculate the nominal value of the calibration object carrier, collect the measured values ​​of the measured IMU and geomagnetic sensor, place the hexahedral tooling arbitrarily, obtain multiple sets of nominal values ​​and measured values ​​of the calibrated object, and establish a set of equations , find the calibration parameters, and complete the calibration. The invention avoids the direct mechanical installation and serious electromagnetic interference of the calibration device to the geomagnetic sensor, and improves the calibration accuracy and reliability of the geomagnetic sensor.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to an integral calibration device for an inertial device and a geomagnetic sensor and a calibration method thereof. Background technique [0002] Inertial measurement units (IMUs) and geomagnetic sensors are widely used in consumer electronics such as smartphones, and robotic systems such as drones and self-driving cars. The IMU is the basic measurement device for inertial navigation. It is composed of a three-axis gyroscope and a three-axis accelerometer. It is fixed on the carrier to realize the perception of the angular velocity and specific force of the carrier. position, velocity and attitude angle. However, the accuracy of civilian inertial devices is poor, and it is difficult to measure and align azimuth angles. Therefore, a three-axis geomagnetic sensor (such as a fluxgate sensor and a magnetoresistive sensor, etc.) is used to sense the local magnetic field strength and...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 王延东张恩阳马经纬
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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