Study on calibration method of MEMS 3-axis digital gyroscope

PENG Xiao-dong1; CHEN Yu1; LI Ji-yu1; YAN Guo-qi1; ZHANG Tie-min1

doi:10.13873/j.1000-97872013.06.011

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Study on calibration method of MEMS 3-axis digital gyroscope

更新时间：2025-09-11

- Study on calibration method of MEMS 3-axis digital gyroscope
- Vol. 32, Issue 6, Pages: 63-65+69(2013)
- 作者机构：
  
  1. 华南农业大学工程学院
  2. 机器人学国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872013.06.011
  CLC： V241.5
- Published：2013
- 稿件说明：
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[1]彭孝东,陈瑜,李继宇,闫国琦,张铁民.MEMS三轴数字陀螺仪标定方法研究[J].传感器与微系统,2013,32(06):63-65+69.

PENG Xiao-dong1, CHEN Yu1, LI Ji-yu1, et al. Study on calibration method of MEMS 3-axis digital gyroscope[J]. 2013, 32(6): 63-65+69.
[1]彭孝东,陈瑜,李继宇,闫国琦,张铁民.MEMS三轴数字陀螺仪标定方法研究[J].传感器与微系统,2013,32(06):63-65+69. DOI： 10.13873/j.1000-97872013.06.011.

PENG Xiao-dong1, CHEN Yu1, LI Ji-yu1, et al. Study on calibration method of MEMS 3-axis digital gyroscope[J]. 2013, 32(6): 63-65+69. DOI： 10.13873/j.1000-97872013.06.011.

摘要

MEMS陀螺仪作为低成本惯性测量单元在物体姿态监测与导航控制中有着广泛应用。根据三轴数字陀螺仪的数学模型

设计了三轴数字陀螺仪的标定实验

介绍了数学模型中陀螺仪标度因数、安装误差系数以及零偏移值的计算与处理方法。理论分析与实验结果表明:该标定方法原理简单、易于实现

且标定结果精度高

标定后的解算矩阵可为后续姿态解算和导航控制提供较为准确的量测数据

同时

该标定过程和数据处理方法对MEMS三轴数字陀螺仪的标定具有一定的参考价值。

Abstract

MEMS gyroscope has broad application in objects posture monitoring and navigation control as low-cost inertial measurement unit.A 3-axis digital gyroscope calibration experiment is designed based on mathematical model of MEMS 3-axis digital gyroscope.The processing method of scale factor

installation error coefficient

and value of zero bias of MEMS 3-axis digital gyroscope in mathernatical model is introduced.Theoretical analysis and experimental results show that this calibration method is simple in principle

easy to implement and has high calibration precision.The solving matrix after calibration can provide more accurate measurement data for the following attitude resolve and the navigation control

while the process of calibration and data processing methods have certain reference value for MEMS 3-axis digital gyroscope calibration.

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references

MEMS陀螺仪的一种实用标定法 [J]. 宋丽君,秦永元. 压电与声光 . 2010(03)

高精度惯性陀螺仪误差系数的快速自标定方法研究 [J]. 冀海燕. 工程与试验 . 2009(04)

MEMS微惯性测量组合标定技术研究 [J]. 李杰,洪惠惠,张文栋. 传感技术学报 . 2008(07)

基于MEMS惯性传感器融合的水田激光平地机水平控制系统 [J]. 赵祚喜,罗锡文,李庆,陈斌,田欣,胡炼,黎永健. 农业工程学报 . 2008(06)

农业机械导航中的航向角度估计算法 [J]. 张智刚,罗锡文. 农业工程学报 . 2008(05)

基于MEMS技术的微型惯性导航系统的发展现状 [J]. 李荣冰,刘建业,曾庆化,华冰. 中国惯性技术学报 . 2004(06)

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