基于杆臂补偿的多MIMU 六方位倍速率标定方法

Error calibration compensation is the key technology to improve MIMU precision. The effect of lever arm is a bottleneck that restricts the accuracy improvement of low-cost MEMS inertial navigation. Aiming at the problem of multi-MIMU calibration error caused by lever arm effect, a multi-MIMU calibration method based on lever arm compensation is proposed. The error mechanism of multi-MIMU calibration is analyzed. A six-position multiplied rates calibration scheme is designed. A calibration model of error coefficient based on lever arm compensation is established to compensate the calibration error caused by lever arm effect. The weighted least square method is applied to suppress the asymmetric errors of MIMU acceleration channel and angular velocity channel. The experimental results show that the error of the MIMU acceleration channel is reduced by 84 % and the error of the angular velocity channel is reduced by 68 % using the proposed method, compared with the traditional six-position positive and negative rate calibration method.