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针对MEMS惯性姿态模块的应用需求,根据已有的MEMS三轴加速度计和三轴陀螺仪的零偏、标度因子和非正交等误差及其随温度的变化模型,设计了多个MEMS惯性姿态模块误差同时标定的方法,该方法可实现多个模块传感器数据的同步采集,在常温下可对多个MEMS惯性姿态模块的非正交误差进行批量标定,在全温度范围内同时标定多个模块的温度漂移误差。试验表明,该方法校正了MEMS惯性传感器的非正交误差和温度漂移误差,提高了MEMS惯性传感器的精度,同时提高了标定的效率,减少了标定成本,有利于工程实现。
According to the MEMS inertial attitude module application requirements, according to the existing MEMS triaxial accelerometer and triaxial gyroscope zero bias, scaling factor and non-orthogonal error and its variation with temperature, a number of MEMS inertial Aiming at the simultaneous calibration of a plurality of module inertial sensors, the method can simultaneously calibrate a plurality of module sensor data, batch calibrate non-orthogonal errors of a plurality of MEMS inertial posture modules at a normal temperature, calibrate a plurality of Module temperature drift error. Experiments show that this method corrects the non-orthogonal error and temperature drift error of MEMS inertial sensor, improves the accuracy of MEMS inertial sensor, improves the calibration efficiency, reduces the calibration cost and is beneficial to the project implementation.