Inertial-measurement-unit calibration method

Abstract

The invention relates to an inertial-measurement-unit calibration method. The inertial-measurement-unit calibration method is applied to a nine-axis inertial measurement unit, and the nine-axis inertial measurement unit comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer. The inertial-measurement-unit calibration method includes the steps that a three-axis rotary table and a clamping piece are provided; the nine-axis inertial measurement unit is installed in the clamping piece; the clamping piece is arranged on the three-axis rotary table; the three-axisrotary table is controlled to rotate, detection data of the nine-axis inertial measuring unit is recorded, and meanwhile the gyroscope, the accelerometer and the magnetometer are corrected. Accordingto the inertial-measurement-unit calibration method, the calibration cost is low, and the accuracy is high. The embodiment of the invention further provides a calibration method of the controller, andthe calibration method of the controller is applied to a controller comprising the nine-axis inertial measurement unit.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to an inertial measurement unit calibration method. Background technique [0002] UAVs, robots, mechanical gimbals, vehicles and ships, virtual reality / augmented reality, and human motion analysis have all achieved rapid development in recent years. In these applications, the autonomous measurement of three-dimensional attitude and orientation is extremely important. As a sensor for measuring the three-axis attitude angle of an object, the inertial measurement unit (IMU) is an important component to realize the above-mentioned technologies and equipment. Especially in the development of the virtual reality / augmented reality industry, the virtual reality / augmented reality equipment not only needs to satisfy the user to watch the content, but also needs to communicate the virtual world and the real world through the attitude sensor, so that the virtual world can be controlled by the ...

AI Technical Summary

Problems solved by technology

However, this method can only calibrate the gyroscope and accelerometer of the nine-axis inertial measurement unit, and cannot be used for the calibration of the magnetometer.

[0006]3) Turn to 8 method: Manually calibrate the magnetometer, but only a single magnetometer can be calibrated, and the calibration results are inconsistent, and the calibration is not good or bad. define test

[0007] All in all, the current calibration method for the nine-axis inertial measurement unit has the problems of cumbersome operation, insufficient precision and low efficiency

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