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MEMS gyroscope combination calibration method

A combined calibration and gyro technology, applied in measurement devices, instruments, etc., can solve the problems of MEMS zero bias repeatability and poor stability

Pending Publication Date: 2020-05-22
BEIJING AUTOMATION CONTROL EQUIP INST
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0002] Compared with traditional medium and high-precision inertial sensors, low-precision MEMS inertial devices have their particularities, mainly in the poor repeatability and stability of MEMS zero bias
Secondly, since the cost of the MEMS inertial device system is usually much lower than the high-precision calibration equipment used in the laboratory, it is impossible to prepare a series of expensive experimental calibration equipment for a low-precision MEMS sensor for engineering applications.

Method used

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Embodiment Construction

[0032] The present invention will be described in further detail below.

[0033] The measurement model of the general MEMS three-axis gyro combination can be expressed as:

[0034]

[0035] Formula (1) is obtained by inverse operation, then there is formula (2). The calibration process is actually the identification and calculation of these parameters.

[0036]

[0037] in, Output measurement vector for MEMS gyro combination, External angular velocity input, v m is the measurement noise, K m =diag(K mx ,K my ,K mz ) scale coefficient error, b 0 constant error matrix, is the non-orthogonal error matrix.

[0038] Step 1. Calibrate the scale coefficient error and non-orthogonal error, and use clockwise and counterclockwise rotation to offset the earth's rotation and gyroscope zero bias

[0039] 1.1) Given a smooth plane and a reference line, for example, select the smooth horizontal floor tile plane of the laboratory and the side stool plane perpendicular to t...

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Abstract

The invention belongs to a gyro calibration compensation technology, in particular to an MEMS gyroscope combination calibration method. Scale coefficient errors and non-orthogonal errors are calibrated, earth rotation and gyro zero offset are counteracted by adopting clockwise and anticlockwise rotation, the gyro zero offset is estimated, the MEMS gyro output at two different static positions is determined, a model is established and the gyro constant zero position is calculated by adopting least square fitting. According to the method, calibration of error parameters can be realized, and calibration of main error parameters, including gyro constant zero offset, scale coefficient error and non-orthogonal error, of the MEMS gyro combination can be completed as long as a right-angle verticalplane is provided.

Description

technical field [0001] The invention belongs to the gyroscope calibration and compensation technology, in particular to a MEMS gyroscope combined calibration method. Background technique [0002] Compared with traditional medium and high-precision inertial sensors, low-precision MEMS inertial devices have their particularities, mainly in the poor repeatability and stability of MEMS zero bias. Secondly, since the cost of the MEMS inertial device system is usually much lower than the high-precision calibration equipment used in the laboratory, it is impossible to prepare a series of expensive experimental calibration equipment for a low-precision MEMS sensor for engineering applications. . Contents of the invention [0003] The purpose of the present invention is to provide a MESM gyroscope combination calibration method to realize the calibration of model parameters. [0004] Technical scheme of the present invention is as follows: [0005] A kind of MEMS gyroscope combi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 杨星辉申燕超梁文华王汝弢
Owner BEIJING AUTOMATION CONTROL EQUIP INST