Inertial measurement unit calibration method based on Stewart platform

A technology of inertial measurement unit and calibration method, which is applied in the direction of measuring devices, instruments, etc., can solve the problems of human factor interference and poor flexibility, and achieve the effect of reliable method, simple calibration process and efficient calibration process

Pending Publication Date: 2022-05-10
NAT INST OF METROLOGY CHINA +1
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Problems solved by technology

[0003] Aiming at the deficiencies such as poor flexibility and human interference in traditional IMU calibration methods, the present invention provides an e

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  • Inertial measurement unit calibration method based on Stewart platform
  • Inertial measurement unit calibration method based on Stewart platform
  • Inertial measurement unit calibration method based on Stewart platform

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Example Embodiment

[0017] In order to solve the problem of multiple manual operations and repeated installations for calibrating multi-axis sensors. In view of the shortcomings of the traditional inertial measurement unit calibration method, such as poor flexibility and many human factors, the present invention provides an efficient, flexible, and repetitive inertial measurement unit calibration method based on the Stewart platform. The present invention is described in detail by specific implementation examples.

[0018] refer to figure 1 It is a schematic diagram of an implementation example device of the method of the present invention. The device mainly includes: a Stewart platform (1), a motion plane (2), an inertial measurement unit (3), a data acquisition device (4), a Stewart platform motion control device (5), A target (6), a camera (7), a data processing and display unit (8).

[0019] The motion plane (2) of the Stewart platform (1) provides the motion of the trajectory in space; the...

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Abstract

The invention discloses an inertial measurement unit calibration method based on a Stewart platform. The inertial measurement unit composed of a three-axial acceleration sensor and a three-axial angle sensor is fastened to the center position of a moving plane of the Stewart platform; the Stewart platform is controlled to generate linear vibration with different frequencies and amplitudes in the X direction, the Y direction and the Z direction, and excitation acceleration is provided for the triaxial acceleration sensor; the Stewart platform is controlled to generate angular vibrations with different frequencies and amplitudes around the X direction, the Y direction and the Z direction respectively, and excitation angles are provided for the triaxial angle sensor. Acquiring an output signal of the inertial measurement unit by using data acquisition equipment, and processing the signal; inertial measurement unit calibration based on the Stewart platform is realized by combining an excitation signal measured by a machine vision method and an output signal processing result acquired by data acquisition equipment. Compared with the existing method, the method can complete calibration without repeatedly installing the inertial measurement unit, and has the advantages of flexibility, simplicity, high efficiency and the like.

Description

technical field [0001] The invention belongs to the field of vibration measurement and testing, and more specifically relates to a calibration method of an inertial measurement unit based on platform motion. Background technique [0002] The Stewart platform has been widely used in aviation, aerospace, deep sea exploration and other industries due to its advantages such as high rigidity, no accumulation of position errors, and the ability to generate a variety of high-precision compound motions. The inertial measurement unit is a device for measuring the position and attitude of a moving object, and its interior is mainly composed of three uniaxial acceleration sensors and three axial angle sensors. The inertial measurement unit is the core device of the inertial navigation system. It is widely used in military fields such as aerospace and civil fields such as unmanned driving technology and smart phones. Its performance directly determines the accuracy of navigation. Tradi...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 蔡晨光刘文峰杨明刘志华吕琦夏岩
Owner NAT INST OF METROLOGY CHINA
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