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引用本文:张春熹,徐美宝,林铁,程世超.MEMS惯性测量组合的整体误差建模与标定[J].导航与控制,2014,(6):1-5 本文二维码信息
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MEMS惯性测量组合的整体误差建模与标定
Integral Error Modeling and Calibration of Inertial Measurement Unit Utilizing MEMS Inertial Sensors
  
DOI:
中文关键词:  微机电系统  MEMS惯性测量组合  误差补偿  误差标定
English Keywords:MEMS  MIMU  Error calibration  Error compensation
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作者单位
张春熹 北京航空航天大学惯性技术重点实验室 
徐美宝 北京航空航天大学惯性技术重点实验室 
林铁 北京航空航天大学惯性技术重点实验室 
程世超 北京航空航天大学惯性技术重点实验室 
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中文摘要:
      对微机电系统(MEMS)惯性测量组合(MIMU)的主要误差项进行分析,提出一种针对MIMU整体的误差补偿模型,模型囊括MEMS惯性传感器自身的零漂、互耦、标度因数非线性等误差,以及传感器安装误差、系统电路漂移等。根据模型设计整体标定和补偿方法,并用最小二乘法系统求解模型中的69个误差系数,避免单一传感器误差补偿的片面性。针对MEMS传感器明显的温度非线性,利用分段补偿的方法将所研制的MIMU的全温范围分成3段,分别求解各分段误差模型的误差系数进行补偿。经实验论证,该方法能有效地抑制多种误差项对MEMS传感器精度的影响,使MEMS陀螺和加速度计的精度提升1-2个数量级。
English Summary:
      After analyzing the main errors of MEMS inertial measurement unit (MIMU), an error model for the entire unit was established, which included MEMS sensors’ zero output drift, cross-axis error, and nonlinear scale factor error, as well as sensors’ installation misalignment errors and system circuit drift, etc. Integral calibrating and compensating method was designed as well, and solved all the 69 error coefficients using the generalized least square algorithm, so shortcomings of single sensor’s error compensation can be avoided. Due to the highly nonlinear caused by the temperature, the temperature range of the MIMU was divided into three sections. It was certificated by the experiments that the method did work in reducing the error affection, and the precision level of the sensors was improved by 1 to 2 orders of magnitude.
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