MEMS device zero offset correction method and device and storage medium

Abstract

The invention provides an MEMS device zero offset correction method and device and a storage medium. The method comprises the steps of sampling a motion data measurement value measured by an MEMS device in real time; determining a zero-speed interval according to all the sampled motion data measurement values; determining whether the zero-speed interval meets a preset correction condition or not,and determining a motion data theoretical value and an attitude matrix of the MEMS device according to the current equipment parameters of the MEMS device and the motion data measurement value; and determining a difference value between the motion data theoretical value and a motion data standard value, and correcting the zero offset of the MEMS device according to the difference value and the attitude matrix. According to the technical scheme of the invention, the motion data theoretical value is determined by adopting the motion data measurement value sampled in real time, the zero offset ofthe MEMS device is corrected online in real time through the difference value between the motion data theoretical value and the motion data standard value, the precision is high, errors generated byzero offset accumulation can be avoided, and the positioning precision of a pedestrian navigation system is improved.

Description

technical field [0001] The invention relates to the technical field of navigation and guidance, in particular to a MEMS device zero offset correction method, device and storage medium. Background technique [0002] In modern life, navigation technology has become an indispensable part of many technical fields. As human activities become more and more complex and diverse, people have higher requirements for the convenience, robustness and accuracy of navigation systems. . Pedestrian Navigation System (PNS), also known as individual navigation system, is an important part of the navigation field and has received more and more attention in recent years. Traditional navigation methods such as GPS cannot provide accurate positioning information in areas such as densely built streets or buildings, and pedestrian navigation systems are widely used in complex scenes such as building interiors because they can get rid of the constraints of satellite signals . At present, the inert...

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Problems solved by technology

[0004] 1. In the static interval of the device, use zero-speed update and assist the Kalman filter method to correct the error, but the accuracy after correction is not very high

[0005] 2. Fix two miniature inertial measurement units (Miniature Inertial Measurement Unit, MIMU) on the feet of individual soldiers, and then use the zero-speed detector based on hypothesis testing and maximum likelihood estimation to perform zero-speed detection and correction , but the workload is heavy and the operation is complicated

[0006] 3. Using the simple online calibration method of the bomb-mounted strapdown inertial navigation, the online calibration is realized by using the excitation effect of the roll angle and pitch angle of the vehicle body on the inertial navigation error under normal movement, but this method is only applicable to the controllable vehicle body, etc. Objects with fixed trajectories for experimental calibration, not suitable for pedestrian navigation

[0007] 4. The method of calibrating MEMS device parameters in the field is to place the positions of the three axes of the navigation system respectively, and then calibrate the zero offset and scale factor through the equation to realize the field online calibration of the integrated navigation system, but in the process of pedestrian navigation , the device is always fixed on the foot, and the three-axis position is not fixed, so this method is also not suitable for pedestrian navigation systems

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