摘要
研究了一种基于MEMS陀螺和加速度计的惯性测量单元（IMU）的系统标定技术，建立了陀螺和加速度计的温度漂移和非线性误差模型，采用逐步线性回归法对以上模型进行了简化，并设计了补偿算法；实时补偿效果表明，在一40℃～60℃的温度变化范围内，惯性测量单元的零位偏值、偏值稳定性和非线性度都达到较高精度，这种误差标定方法可有效解决MEMS-IMU惯性器件误差的标定与补偿问题。
A precision--calibration technique was discussed for Inertial Measurement Units. The temperature excursion and non--linear error model of the iMU were analyzed. Two models were simplified with stepwise linear regression. The real--time compensation indicated that IMU＇s initial position error and nonlinear error were reduced when the range of temperature is between --40℃ and 60℃. The calibration method can effectively solve the problems of temperature excursion and non--linear error in MEMS inertial sensors, and increase the meas- urement precision of IMU.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第11期2170-2172,2176,共4页
Computer Measurement &Control
