Error parameter calibration method for nine-axis sensor

A nine-axis sensor and error parameter technology, applied in the direction of the instrument, can solve the problems of sensor error, equipment positioning, attitude determination performance, low efficiency, etc., and achieve the effect of good universality and good calibration accuracy

Active Publication Date: 2021-03-23
WUHAN UNIV
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Problems solved by technology

Although the manufacturer gave the sensor error calibration results at the factory, there will still be sensor errors, which will have a great impact on the positioning and attitude determination performance of the device.
In addition, the magnetometer coordinate system is distorted due to the influence of the soft iron material, resulting in cross-distortion between the magnetometer and the gyroscope / accelerometer
[0003] The traditional nine-axis sensor calibration algorithm separates the gyroscope / accelerometer and the magnetometer for calibration, which is inefficient and complicated to operate

Method used

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  • Error parameter calibration method for nine-axis sensor
  • Error parameter calibration method for nine-axis sensor
  • Error parameter calibration method for nine-axis sensor

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Embodiment Construction

[0076] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0077] Step 1, such as figure 1 As shown, take the center of the sensor (that is, the mobile phone) as the center of rotation, and make it rotate 720° around the X, Y, and Z axes of the carrier coordinate system;

[0078] Step 2, establish the measurement error model of gyroscope, accelerometer, magnetometer in the nine-axis sensor to determine the calibration parameters, to facilitate the construction of error state Kalman filter for sensor calibration (the present invention considers that the carrier coordinate system is the same as the inertial sensor coordinate system axis system ). Using the Kalman filter to complete the sensor calibration process as figure 2 shown.

[0079] Moreover, the implementation of step 2 includes the following sub-steps,

[0080] 21) Model the original observation model of the gyroscope. Af...

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Abstract

The invention provides an error parameter calibration method for a nine-axis sensor. Based on the assumption that the position is not changed and the environment magnetic field is not changed at a single position in the calibration process, an inertial navigation mechanical arrangement equation and a magnetometer observation model are taken as system state equations, a measurement equation is constructed by using pseudo-position observation and magnetic field projection component invariant constraints at the single position, and sensor calibration parameters are obtained through Kalman filtering. Compared with an existing calibration technology, the method is simple in algorithm and high in efficiency. Not only can zero offset and scale factor errors of a gyroscope and an accelerometer beobtained, but also soft and hard magnetic effect calibration of the magnetometer is realized, and a coordinate system of the magnetometer is aligned with a coordinate system of an inertial sensor. According to the invention, an accurate sensor calibration result can be obtained through a simple calibration action under the condition of no professional equipment tool and no dependence on external information.

Description

technical field [0001] The invention belongs to the technical field of micro-electromechanical systems, and in particular relates to an error calibration method for a nine-axis sensor. Background technique [0002] MEMS (Micro-Electro Mechanical Systems) has the advantages of small size, light weight, and high reliability. In recent years, with the development of MEMS technology, MEMS sensors have been widely used in mobile phones, game devices, etc. Due to the influence of manufacturing process and processing accuracy, MEMS sensors will have errors such as zero bias and scale factor, and these errors will change with temperature and time. Although the manufacturer gave the sensor error calibration results at the factory, there will still be sensor errors, and these errors will have a great impact on the positioning and attitude determination performance of the device. In addition, the magnetometer coordinate system is distorted due to the influence of the soft iron materia...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D18/00
CPCG01D18/00
Inventor 旷俭牛小骥李泰宇刘韬
Owner WUHAN UNIV
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