An improved method of orthogonal compensation for IMU installation error

MA Ya-ping; WEI Guo; ZHOU Qing-dong

doi:10.13873/J.1000-9787(2016)09-0009-05

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An improved method of orthogonal compensation for IMU installation error

更新时间：2025-09-11

- An improved method of orthogonal compensation for IMU installation error
- Vol. 35, Issue 9, Pages: 9-13(2016)
- 作者机构：
  
  哈尔滨工业大学自动化测试与控制系
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)09-0009-05
  CLC： TP212
- Published：2016
- 稿件说明：
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[1]马亚平,魏国,周庆东.改进的IMU传感器安装误差正交补偿方法[J].传感器与微系统,2016,35(09):9-13.

MA Ya-ping, WEI Guo, ZHOU Qing-dong. An improved method of orthogonal compensation for IMU installation error[J]. 2016, 35(9): 9-13.
[1]马亚平,魏国,周庆东.改进的IMU传感器安装误差正交补偿方法[J].传感器与微系统,2016,35(09):9-13. DOI： 10.13873/J.1000-9787(2016)09-0009-05.

MA Ya-ping, WEI Guo, ZHOU Qing-dong. An improved method of orthogonal compensation for IMU installation error[J]. 2016, 35(9): 9-13. DOI： 10.13873/J.1000-9787(2016)09-0009-05.

摘要

针对传统的正交补偿方法难以保证惯性测量单元具有较高的正交补偿精度的问题

提出了一种改进的适用于大角度和小角度安装误差角情形的正交补偿方法

该方法分别建立三轴加速度计和三轴光纤陀螺传感器的安装误差方程

对惯性测量单元进行速率标定和多位置静态标定

并利用最小二乘法求解惯性测量单元的安装误差方程参数。仿真和实验结果表明:该方法较传统的正交补偿方法具有较高的正交补偿精度和传感器标定精度

且回避了静态标定时在较大安装误差角下利用转位机构获得零偏存在较大误差的问题

大大地提高了标定效率。

Abstract

An improved approach for orthogonal compensation is proposed to solve the problem of traditional method that has difficulty in satisfying relatively higher orthogonal compensation precision of inertial measurement unit（IMU）.The installation error equations of both three axis accelerometers and three axis fiber-optic gyro sensors are formulated

respectively.Then rate calibration and multi-position static calibration of IMU are conducted

compute installation error equation parameters of IMU by means of least square algorithm.Both simulated and experimental results show that the proposed orthogonal compensation approach has higher precision in terms of both orthogonal compensation and sensor calibration

as compared with the conventional orthogonal compensation one.Furthermore

the proposed method also solves the problem of calculating the IMU zero bias by using indexing mechanism during static calibration

and thus the calibration efficiency of IMU can be greatly improved.

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references

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轻小型二位置光纤陀螺测斜仪惯性测量单元设计 [J]. 高爽,焦禹舜,林铁,孔庆鹏. 传感器与微系统 . 2014(06)

MEMS三轴数字陀螺仪标定方法研究 [J]. 彭孝东,陈瑜,李继宇,闫国琦,张铁民. 传感器与微系统 . 2013(06)

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