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Pyramid inertial measurement unit and three-axis gyroscope scale factor self-calibration method

An inertial measurement unit and scale factor technology, applied in the inertial field, can solve the problems of increasing system complexity, reducing system reliability, and not being able to realize on-site calibration, etc., and achieve high space utilization, space saving, and small size.

Inactive Publication Date: 2017-10-17
TSINGHUA UNIV
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Problems solved by technology

The traditional discrete calibration method is to use the three-axis turntable to drive the cube-shaped inertial measurement unit to rotate to complete the calibration of the IMU three-axis gyroscope, which separates the calibration from the application and cannot achieve on-site calibration
However, if a two-axis or three-axis rotation modulation scheme is used to self-calibrate the IMU, this increases the complexity of the system, reduces the reliability of the system, and brings great challenges to the design of high-precision inertial navigation systems.

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[0021] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that embodiments of the invention may be practiced without these specific details. In other instances, well-known motors, goniometric elements, processing circuits, etc. structures have not been specifically shown in order not to obscure the understanding of these descriptions.

[0022] Such as figure 1 , figure 2 Shown, the present invention provides a kind of pyramidal inertial measurement unit, and this pyramidal inertial measurement unit is arranged on the turntable 1, and it comprises pyramidal installation frock 2, uniaxial gyroscope 3 and uniaxial accelerometer 4; Wherein , the pyramid installation tooling 2 has a tetrahedral structure. The bottom of the turntable 1 is fixedly connected with the existing motor rotor, and the motor drives the turntable 1 to rotate; the bottom surface of the pyramid installation tool 2 is fixed...

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Abstract

The invention relates to a pyramid inertial measurement unit and a three-axis gyroscope scale factor self-calibration method; the pyramid inertial measurement unit is disposed on a turntable and comprises a pyramid mounting tool, uniaxial gyroscopes, and uniaxial accelerometers; a pyramid is of tetrahedral structure; the bottom of the turntable is fixedly connected with an existing motor rotor; the turntable is driven by a motor to rotate; the bottom of the pyramid mounting tool is fixed to the top of the turntable; each side of the pyramid mounting tool is provided with the corresponding uniaxial gyroscope and uniaxial accelerometer which are staggered. The pyramid inertial measurement unit and the three-axis gyroscope scale factor self-calibration method have the advantages that scale factors can be calibrated in situ and navigation precision is improved accordingly.

Description

technical field [0001] The invention relates to the technical field of inertia, in particular to a pyramidal inertial measurement unit and a method for self-calibrating the scale factor of a three-axis gyroscope. Background technique [0002] The existing inertial measurement unit (IMU) mostly adopts a cubic structure, and three uniaxial gyroscopes and three uniaxial accelerometers are installed on six sides of the cube, which has a low space utilization rate. It is not conducive to realizing light and small size. In addition, the accuracy of the gyroscope plays a decisive role in the navigation accuracy of the inertial navigation system, and the scale factor error is an important factor affecting the accuracy of the gyroscope. Generally, the IMU will be calibrated once before leaving the factory, but as the storage time and application environment change, the scale factor will change, so it will be calibrated again before it is applied to the inertial navigation system. T...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张嵘郭美凤邢海峰张永健周斌
Owner TSINGHUA UNIV
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