Test method and system for IMU (Inertial Measurement Unit) automatic calibration

Abstract

The invention discloses a test method and a system for IMU automatic calibration. The method comprises the following steps of: generating a calibration instruction and a test instruction according toa setting of a user interface, wherein the calibration instruction controls the working state of a turntable; collecting specified data in the test instruction according to the working state; callinga control algorithm to calculate a calibration parameter and a calibration error according to the specified data; and performing error compensation according to the calibration parameter and the calibration error, and sending the updated calibration parameter to the IMU and simultaneously outputting the test result. The invention also discloses a system which belongs to the same concept as the method, and the calibration intermediate process does not need people to participate, the universality is good, the automation level is high, so that the calibration and the testing have high efficiencyand high precision, and meanwhile, and the data integration management, the online control and the monitoring are achieved.

Description

technical field [0001] The invention relates to the technical field of inertial measurement unit calibration and testing, in particular to a testing method and system for IMU automatic calibration. Background technique [0002] Inertial Measurement Unit (IMU) composed of gyroscope and accelerometer is a sensitive part of Strapdown Inertial Navigation System (SINS), and its calibration and testing play an important role in the use of SINS. IMU calibration is the premise of inertial navigation, and the calibration results will have a direct impact on navigation accuracy; the test of IMU can evaluate whether it meets the design performance index or meets the system requirements. [0003] Most of the traditional methods of inertial measurement unit calibration and testing adopt manual methods, and generally use static multi-position and rate turntable testing. This method uses the principle of multi-position cancellation to analyze and calculate various error terms by collecting...

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned analysis, the present invention aims to provide a test method and system for automatic calibration of IMU. The IMU as a whole is used as the calibration object, and factors such as incomplete orthogonality errors between axes of inertial sensors and structural installation errors are considered. The initial zero position, scale factor, installation error coefficient and other parameters of the inertial sensor are calibrated. The middle process of the calibration does not require personnel to participate. It has good versatility, high automation level, and reduces the interference of various factors, ensuring the high efficiency and High precision, which solves the problems of low precision, cumbersome process, low efficiency and single function of some inertial navigation automatic test platforms in the existing technology, and the low degree of generalization and intelligence

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