Method for simultaneously calibrating multiple MIMU errors based on lever arm compensation and positive and reverse speed

Abstract

The invention discloses a method for simultaneously calibrating multiple MIMU errors based on lever arm compensation and positive and reverse speed. A error of micro inertial measurement system basedon microelectromechanical systems is mainly composed of deterministic error and random error, and the installation error is larger than a traditional inertial measurement unit, then according to a mathematical model of MIMU error drift, a uniaxial rate turntable and a hexahedron tooling without pointing north are designed, the calibration method based on the lever arm compensation and the positiveand reverse speed is utilized, the error compensation model of the lever arm effect and the error solution statistical model using the weighted least square method are established, the error factors,such as the scale factor, the constant value drift, the installation error and the like, can be determined by single calibration of single or multiple IMUs. The test equipment needs not determining bearing by pointing north, can cancel the error influence of the ground speed and the gravity, the statistical property of the calculation result is strong, and has the advantages of low requirement ofexperimental equipment, short calibration time, small calibration workload and the like.

Description

technical field [0001] The invention relates to a method for simultaneously calibrating multi-MIMU errors based on lever arm compensation and positive and negative multiplication rates, and belongs to the technical field of error calibration. Background technique [0002] The Micro Inertial Measurement Unit (MIMU) designed based on the Micro-Electro-Mechanical System (MEMS) is a strap-down position and attitude measurement system that includes a variety of inertial devices and measurement sensors, mainly including micro Small gyroscopes, accelerometers, barometers, electronic compasses and other sensors, through the movement of the carrier, generate inertial information such as angular velocity and acceleration, combined with environmental information such as air pressure and geomagnetic field, to achieve the purpose of measuring the movement of the carrier. [0003] The inertial measurement system is an autonomous strapdown navigation system that does not depend on any exte...

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Problems solved by technology

[0008] In view of the above defects, the present invention provides a method for simultaneously calibrating multi-MIMU errors based on lever arm compensation and positive and negative multiplication rates. For the problem of multi-IMU calibration accuracy decline, based on the error model and the influence analysis of the lever arm effect, for multi-MIMU In the calibration process, the influence mechanism of the calibration error caused by the lever-arm effect was analyzed, and a six-direction multi-rate calibration method was designed, and a lever-arm effect error compensation model and an error solution model using the weighted least square method were established. Experiments verify the effectiveness of the method

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