摘要
高精度的惯性测量组合(IMU)中,现场标定零偏十分必要。基于输入输出模相等的原则,推导出一个IMU零偏的多位置现场标定方法,该方法是无偏的,且对重力加速度误差不敏感。证明了三个标定位置定理,指出IMU零偏的现场标定至少需要四个位置且IMU测量矢量的顶端不能在同一个平面内,给出了四位置标定精度最高的条件。仿真证明了标定方法的可行性和标定位置定理的正确性。
For accurate navigation, it is necessary to calibrate IMU bias on the spot. A multi-position field calibration algorithm was derived for IMU bias based on the fact that the Earth rate and gravity are respectively equal to the output of gyroscopes and accelerometers in magnitude. The proposed algorithm gives an unbiased estimation without being affected by the gravity error. Three theorems about calibration positions imply that at least 4 positions are needed in cali- bration and all vector vertexes of rotation rate and specific force measured by IMU can not be in the same plane. A condition was also given under which the algorithm yields the best result when using four positions. The simulation shows that the algorithm is feasible and effective.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第4期4-7,12,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
惯性测量组合
零偏
现场标定
多位置
inertial measurement unit
bias
field calibration
multi-position
