摘 要：微慣性測(cè)試單元（MIMU）中測(cè)量組合的測(cè)量準(zhǔn)確度直接影響姿態(tài)測(cè)試系統(tǒng)姿態(tài)解算的準(zhǔn)確度，根據(jù)微慣性測(cè)量組合任意靜態(tài)位置3個(gè)軸測(cè)量模值為固定值，提出一種基于橢球假設(shè)的MIMU現(xiàn)場(chǎng)快速標(biāo)定方法。通過分析微慣性測(cè)量組合的誤差模型，對(duì)其在不同姿態(tài)下的測(cè)量數(shù)據(jù)進(jìn)行橢球擬合，快速得到全部標(biāo)定參數(shù)。試驗(yàn)結(jié)果表明：該方法可在沒有精密標(biāo)定設(shè)備的條件下現(xiàn)場(chǎng)標(biāo)定，操作簡(jiǎn)便、快速，準(zhǔn)確度可以提高3個(gè)數(shù)量級(jí)，滿足導(dǎo)航解算的準(zhǔn)確度要求。
關(guān)鍵詞：橢球假設(shè)；微慣性測(cè)試單元；現(xiàn)場(chǎng)標(biāo)定；零偏；靈敏度；非正交
文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1674-5124（2015）12-0025-03
Field calibration of MIMU based on ellipsoid hypothesis
ZHAI Zixiong， ZHANG Pizhuang， ZHANG Yulin
（Key Laboratory of Instrumentation Science & Dynamic Measurement of Ministry of Education，
North University of China，Taiyuan 030051，China）
Abstract: Whether a measurement unit in MIMU is measured accurately can directly affect the attitude calculation of an attitude testing system. So， it is important to calibrate the measurement units quickly and accurately. A MIMU field fast calibration method has hence been proposed based on ellipsoid hypothesis and a fixed value-three axis measurement mode data in any static position. In line with the analytical results of a MIMU error model， all the calibration parameters were obtained via ellipsoid fitting of the measurement data acquired in different postures. Experimental results show that this simple and rapid field calibration method can be used in the environment without precision calibration to improve the MIMU accuracy by 3 magnitudes， thus satisfying the accuracy requirement of navigation calculation.
Keywords: ellipsoid hypothesis； MIMU； field calibration； zero bias； sensitivity； non-orthogonal
