CAJ | 학술논문

根据微型航姿测量系统各传感器的特点,研究出了一种基于磁传感器输出的MEMS陀螺标定方法,并根据MEMS陀螺误差参数模型设计相应的补偿算法,分别对MEMS陀螺的零偏和标度因数误差进行了补偿。与传统标定方法相比,该方法实现简单,适用于现场标定。实验结果表明,该标定方法能够有效地提高MEMS陀螺测量精度,补偿后陀螺在静态条件下2 min内,俯仰角漂移小于0.035o,倾斜角漂移小于0.15o,航向角的漂移小于0.2o。当陀螺三轴均有角速率输入时,在角速度小于25o/s情况下误差都能保持在依2o以内。
근거미형항자측량계통각전감기적특점,연구출료일충기우자전감기수출적MEMS타라표정방법,병근거MEMS타라오차삼수모형설계상응적보상산법,분별대MEMS타라적령편화표도인수오차진행료보상。여전통표정방법상비,해방법실현간단,괄용우현장표정。실험결과표명,해표정방법능구유효지제고MEMS타라측량정도,보상후타라재정태조건하2 min내,부앙각표이소우0.035o,경사각표이소우0.15o,항향각적표이소우0.2o。당타라삼축균유각속솔수입시,재각속도소우25o/s정황하오차도능보지재의2o이내。
According to the characteristics of different sensors in an Attitude and Heading Reference System( AHRS) , a new calibration method of MEMS gyroscope based on the output of magnetic sensor is developed. The error models of the MEMS gyroscope is established, and appropriate compensation algorithm for MEMS gyroscope's bias error and scale factor error was designed. Compared with the traditional calibration methods,this method is rather simple and suitable for real-time calibration. Experimental results show that the static accuracy of MEMS gyroscope has reached a high accuracy,the drift of pitch angle is less than 0. 035oper two minutes,the drift of tilt angle is less than 0. 15oper two minutes and the drift of heading angle is less than 0. 2oper two minutes. When input angle rates of all three axes are within 25 o/s,the heading angle error,pitch angle error and tilt angle error are all no more than±2o.