Inertial measurement unit and linear-angular coupling motion calibration method thereof

By constructing a non-contact inertial measurement unit (IMU) linear-angular motion synchronous measurement system and utilizing equipment such as a reference cubic prism and a laser vibrometer, the problem of IMU's inability to distinguish between real motion and measurement error in high-dynamic vibration environments was solved, achieving high-precision calibration and error compensation for the IMU.

CN122083994BActive Publication Date: 2026-07-03BEIJING RATE ELECTROMECHANICAL TECH CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING RATE ELECTROMECHANICAL TECH CO LTD
Filing Date
2026-04-23
Publication Date
2026-07-03

AI Technical Summary

Technical Problem

In highly dynamic vibration environments, the inertial devices of the inertial measurement unit (IMU) have difficulty distinguishing between actual motion and measurement errors, resulting in attitude and displacement deviations. Existing technologies struggle to achieve high-precision non-contact monitoring and calibration.

Method used

A non-contact inertial measurement unit (IMU) linear-angular motion synchronous measurement system was constructed. Using a reference cubic prism, a three-dimensional laser vibrometer, and a dual-axis photoelectric autocollimator, the output data of the IMU, laser vibrometer, and photoelectric autocollimator were synchronously acquired through a data acquisition module to perform linear-angular coupling motion calibration of the IMU.

Benefits of technology

It achieves real-time high-precision measurement of multi-degree-of-freedom motion of inertial measurement units, avoids the influence of vibration on the accuracy of the measurement system, can accurately separate the actual motion from the measurement error of inertial devices, and improves the performance calibration accuracy of inertial devices.

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Abstract

This invention belongs to the field of inertial measurement technology, specifically an inertial measurement unit and its linear-angular coupling motion calibration method. It includes constructing a non-contact inertial measurement unit linear-angular motion synchronous measurement system. Through a reference cubic prism, a three-dimensional laser vibrometer, a first dual-axis autocollimator, a second dual-axis autocollimator, and a data acquisition module, an attitude transformation matrix is ​​established from the cubic mirror coordinate system to the inertial measurement unit coordinate system. By synchronously triggering the inertial measurement unit, based on the outputs of a three-axis gyroscope and a three-axis accelerometer, the three-axis acceleration measured by the three-dimensional laser vibrometer in the inertial measurement unit coordinate system, and the three-axis angular velocity of the inertial measurement unit measured by the dual-axis autocollimator, the linear-angular coupling motion of the inertial measurement unit is calibrated. This invention avoids the influence of vibration on the accuracy of the measurement system and solves the problem of difficulty in dynamically tracking and monitoring the actual motion of the inertial measurement unit during vibration.
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