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MEMS惯性测量单元航姿更新中的测量误差估算方法

马江华 林炜轩 万美琳 王德志

马江华, 林炜轩, 万美琳, 王德志. MEMS惯性测量单元航姿更新中的测量误差估算方法[J]. 电子与信息学报, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006
引用本文: 马江华, 林炜轩, 万美琳, 王德志. MEMS惯性测量单元航姿更新中的测量误差估算方法[J]. 电子与信息学报, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006
MA Jianghua, LIN Weixuan, WAN Meilin, WANG Dezhi. Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update[J]. Journal of Electronics & Information Technology, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006
Citation: MA Jianghua, LIN Weixuan, WAN Meilin, WANG Dezhi. Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update[J]. Journal of Electronics & Information Technology, 2022, 44(2): 775-780. doi: 10.11999/JEIT210006

MEMS惯性测量单元航姿更新中的测量误差估算方法

doi: 10.11999/JEIT210006
基金项目: 国家自然科学基金(61704050)
详细信息
    作者简介:

    马江华:女,1984年生,讲师,研究方向为智能交通系统

    林炜轩:男,1998年生,硕士生,研究方向为北斗/惯导混合定位系统

    万美琳:男,1988年生,副教授,研究方向为数模混合集成电路

    王德志:男,1983年生,博士,研究方向为北斗/惯导混合定位系统和数模混合集成电路

    通讯作者:

    王德志 dzjcwang@hubu.edu.cn

  • 中图分类号: TP212

Estimation Method of Measurement Errors in MEMS Inertial Measurement Unit Based Orientation Update

Funds: The National Natural Science Foundation of China (61704050)
  • 摘要: 利用MEMS惯性测量单元测量载体的航姿,需要借助精密转台且较难精确估算测量误差,导致成本高误差大。针对该问题,该文利用卡尔曼滤波器在线估算载体的姿态和陀螺仪的偏置,提出一种优化航姿精度的测量误差估算方法。通过推导测量误差的数学模型,分析航姿精度随测量误差变化的关系,得到最优航姿时的测量误差值。采用一种MEMS惯性测量单元,测试载体沿任意轨迹匀速运动5 min的航姿。实验结果表明优化后载体的航姿与参考航姿保持一致,且最后静止时段载体的俯仰角、横滚角和航向角仅偏离参考航姿0.008°, 0.006°和0.6°。
  • 图  1  JY901惯性测量模组

    图  2  x轴加速度计测量结果滤波前后的波形

    图  3  当取第28000个采样点时航姿误差随j的变化趋势

    图  4  参考航姿和利用本文测量误差估算值解算的航姿

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出版历程
  • 收稿日期:  2021-01-04
  • 修回日期:  2021-07-19
  • 网络出版日期:  2021-10-08
  • 刊出日期:  2022-02-25

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