第19卷第7期 2011年7月
文章编号1004-924X(2011)07-1620-07
光学精密工程
Optics and Precision Engineering
Vol.19No.7
Jul.2011
微惯性测量单元的误差整机标定和补偿
代刚1.2*，李枚"，苏伟1，邵贝贝2
（1.中国工程物理研究院电子工程研究所，四川绵阳621900
2.清华大学工程物理系，北京100084）
摘要：提出了微惯性测量单元（MIMU)在高动态、高过载复杂应用条件下的误差整机标定和补偿方法。首先，建立了高动态，高过载复杂应用条件下MIMU的误差模型，该模型包括了结构误差，传感器安装误差和MEMS惯性传感器在复杂条件对精度影响较大的误差项，指零位温度源移、互耦误差、刻度因子非线性和微陀螺加速度效应误差；根据模型提出了整机标定补偿方法，该方法可以标定MIMU的63个误差系数，并且不需要对单个传感器进行标定，然后，介绍了利用最小二乘法对模型进行误差系数标定的方法和步案，并对自研的MIMU进行了标定。最后，通过飞行实验对MIMU进行了验证。结
果表明，使用该方法使定位精度提高了一个数量级，基本满足MIMU在高动态、高过获条件下的精度要求。关键词：微惯性测量单元（MIMU)；摄机电系统(MEMS；误差分析；整体标定；误差补偿
中图分类号：V241.6
文献标识码：A
doi;10.3788/OPE.20111907.1620
Errorcalibrationandcompensationof entire micro inertial measurement unit
DAI Gangl-2·,LI Mei', SU Wei',SHAO Bei-bei
(l.InstituteofElectronicEngineeringChinaAcademyof
EngineeringPhysics,Mianyang621900,China;
(2.Departmentof EngineeringPhysics,Tsinghua University,Beijing 100084,China)
Correspondingauthor,E-mail:dgo2mails.tshinghua.edu.cn
Abstract: The entire calibration and compensation method of a Miniature Inerial Measurement Unit(MIMU) in high dynamic and overload complicate environments was proposed. Firstly, an error mod-el applied to the complicate application environments was established,which consists of the structure errors, installation misalignment errors and the errors of the MEMS sensors including zero output drift, temperature drift, cross-axis error, nonlinear scale factor error and acceleration effect error of gyroscope,Based on the model,the entire calibration and compensation method was proposed to cali-brate 63 error coefficients without calibration of each MEMS inertial sensor separately.Then, the generalized least square algorithm was used to calibrate and calculate the error coefficients.Finally, a MIMU was developed for a flight experiment and was calibrated with this proposed method. Experi-mental results indicate that the positioning accuracy is improved by 1 order of magnitude. It can satis-
收稿日期：2010-10-19；修订日期：2010-11-24. 基金项目：武器装备预研基金资助项目