IMU标定数学建模及误差分析
赵桂玲;姜雨含;李松
【期刊名称】《传感技术学报》 【年(卷),期】2016(029)006
【摘要】The calibration path design and data processing method for inertial
measurement
unit(IMU)depend
on
IMU
calibration
mathematical model. Installation error is an important factor in determining the IMU calibration model. According to the different installation forms of accelerometers and gyroscopes relative to the carrier ,an IMU calibration mathematical modeling method was proposed by coordinate transformation. The affects of IMU calibra?tion model error on angular rate and acceleration were derived. It analyzed the influence of IMU calibration model error on inertial navigation system navigation(SINS),and also designed calibration path and data processing meth?ods based on the position information provided by turntable. The simulation and turntable experiment results show that IMU calibration model error causes attitude error,velocity error and position error. Also,the expression form of installation error decides the navigation errors caused by IMU calibration model.%惯性测量单元（IMU）标定路径设计和数据处理方法取决于IMU标定数学模型，安装误差是决定IMU标定模型的重要因素。针对工程中加速度计和陀螺相对载体安装方式的不同，提出一种通过坐标系转换矩阵建立IMU标定数学模型的方法，推导IMU
IMU标定数学建模及误差分析
