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介绍了一种针对低精度、非正交安装的MEMS惯导系统的标定方法。在分析MEMS陀螺的静态性能的基础上,将陀螺的静态输出作为陀螺零偏,利用惯性器件空间向量的转换关系,直接得出微惯性器件输出与惯导系统测量坐标系的关系矩阵,通过六个位置和六个速率点即可完成MEMS惯导系统标定,极大的提高了系统的标定效率。某微机械惯导系统的标定、补偿验证试验结果表明此种方法有效可行。
A calibration method for low-precision, non-orthogonal MEMS inertial navigation system is introduced. Based on the analysis of the static performance of the MEMS gyroscope, the static output of the gyroscope is used as the gyro zero bias, and the relation matrix between the output of the inertial device and the measurement coordinate system of the inertial navigation system is obtained directly by using the transformation relation of the inertial device space vector. One position and six rate points to complete the MEMS inertial navigation system calibration, which greatly improves the system calibration efficiency. Calibration of a micro-mechanical inertial navigation system, the verification test results show that this method is feasible.