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三轴加速度计是微惯性测试单元(MIMU)测量组合的重要组成器件,其测量准确度直接影响系统姿态解算的准确度。因此需要对三轴加速度计的零偏误差、标度因素误差、各轴之间的不正交误差以及传感器与测试单元的安装误差进行分析和补偿。提出了一种两步校准法,即首先利用椭球假设的MIMU现场快速标定方法分析微惯性测量组合的误差模型,得到加速度计的零偏、标度因素和不正交角;之后利用四位置法校准出加速度计的安装误差。该方法实际操作简单,不需要高精度辅助设备。测试平台实验表明:该方法能够有效提高三分量测量数据的准确性,可应用于MIMU姿态测量系统中加速度计的校准。
Triaxial accelerometer is an important component of the MIMU measurement portfolio. Its measurement accuracy directly affects the accuracy of system attitude calculation. Therefore, it is necessary to analyze and compensate the three-axis accelerometer zero bias error, the scale factor error, the non-orthogonal error between the axes and the installation error of the sensor and the test unit. A two-step calibration method is proposed. Firstly, the error model of the micro-inertial measurement combination is firstly analyzed by MIMU on-site rapid calibration method based on the assumption of ellipsoid, and the zero bias, scale factor and non-orthogonal angle of the accelerometer are obtained. Then the four- The accelerometer installation error. The method is simple in practice and does not require high-precision auxiliary equipment. Experimental results show that this method can effectively improve the accuracy of the three-component measurement data and can be used to calibrate the accelerometer in the MIMU attitude measurement system.