MEMS gyroscope rapid calibration method based on recursive least square method

A least square method and calibration method technology, applied in the field of gyroscope calibration, can solve the problems of cumbersome calibration process, large amount of calculation, low efficiency, etc., and achieve the effect of providing calibration efficiency, simplifying operation, and simplifying the calibration process

Pending Publication Date: 2021-11-19
BEIJING MECHANICAL EQUIP INST
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Problems solved by technology

[0006] In view of the above analysis, the present invention aims to provide a MEMS gyroscope rapid calibration method based on the recursive least squares method to solve the problems of cumbersome process, large amount of calculation, long time consumption and low efficiency in the existing calibration method

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  • MEMS gyroscope rapid calibration method based on recursive least square method
  • MEMS gyroscope rapid calibration method based on recursive least square method
  • MEMS gyroscope rapid calibration method based on recursive least square method

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Embodiment Construction

[0052] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0053] A specific embodiment of the present invention discloses a MEMS gyroscope fast calibration method based on the recursive least square method. Such as figure 1 shown, including the following steps:

[0054] Step 1. Establish an error model of the MEMS gyroscope to be calibrated.

[0055] Step 2. Obtain the output of the pitch axis, yaw axis, and roll axis of the MEMS gyroscope collected at the preset sampling frequency within the preset time period at multiple preset positions on the three-axis turntable, and generate the first sampling time to the second sampling time. The first data...

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Abstract

The invention relates to an MEMS gyroscope rapid calibration method based on a recursive least square method, which belongs to the technical field of gyroscope calibration, and solves the problems that an existing calibration method is tedious in process, large in calculation amount and low in efficiency. The method comprises the following steps of establishing an MEMS gyroscope error model to be calibrated, acquiring output quantities of a pitch axis, a yaw axis and a rolling axis of the MEMS gyroscope at a plurality of preset positions of the three-axis turntable, which are acquired at a preset sampling frequency within a preset time period, and generating a first group of data groups to an Nth group of data groups, obtaining a corresponding first error parameter by utilizing an MEMS gyroscope error model based on the first data group, according to the first error parameter and the second data group, acquiring a second error parameter through a recursive least square method, conducting iteration in sequence till the error parameter converges, acquiring the determined error parameter, and therefore completing calibration of the MEMS gyroscope error model. The method is simple to operate, the calibration precision is ensured, the calibration time is saved, and the calibration efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of gyroscope calibration, in particular to a MEMS gyroscope fast calibration method based on the recursive least square method. Background technique [0002] MEMS (Micro-Electro-Mechanical Systems) is the abbreviation of micro-electro-mechanical systems. It refers to a design that integrates micro-structures, micro-sensors, and micro-actuators. Internal micro-device or system. Micro-electro-mechanical systems (MEMS) inertial devices are widely used in aviation, aerospace, and navigation due to their small size, light weight, low power consumption, mass production, low cost, and high reliability, which are not available in traditional sensors. , meteorology, geology, automotive industry, industrial monitoring, robotics and consumer electronics and other fields. With the development of micro-electro-mechanical systems, the inertial navigation system is becoming more and more miniaturized. Gyroscopes are sen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 陈炤屹
Owner BEIJING MECHANICAL EQUIP INST
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