CN105928544B - The Rapid self-calibration method and device of Micro Inertial Measurement Unit unit - Google Patents
The Rapid self-calibration method and device of Micro Inertial Measurement Unit unit Download PDFInfo
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- CN105928544B CN105928544B CN201610266882.5A CN201610266882A CN105928544B CN 105928544 B CN105928544 B CN 105928544B CN 201610266882 A CN201610266882 A CN 201610266882A CN 105928544 B CN105928544 B CN 105928544B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of Rapid self-calibration method and devices of Micro Inertial Measurement Unit unit, wherein rotates this method comprises: obtaining Micro Inertial Measurement Unit unit to the real time data information of different location；Real time data information is handled to obtain new data information using 3 σ methods；Establish Micro Inertial Measurement Unit elemental error model；By Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model, new data information is resolved, obtains each error term of Micro Inertial Measurement Unit unit.This method can satisfy field calibration demand, reduces the calibration cost of Micro Inertial Measurement Unit unit, further increases stated accuracy.
Description
Technical field
The present invention relates to inertial survey technique field more particularly to a kind of Rapid self-calibrations of Micro Inertial Measurement Unit unit
Method and device.
Background technique
Micro inertial measurement unit includes three axis micro-mechanical gyroscopes and three axis micro-mechanical accelerometers, three axis micromechanical gyros
It is mounted on fixed pedestal with three axis micro-machine accelerations into orthogonal respectively, by signal processing, compensating unit and interface circuit,
Three axis angular rates and acceleration are exported, micro inertial measurement unit is formed, three axis angular rates and 3-axis acceleration can be exported.
Mini inertia measurement unit Yin Qiyin its with small in size, light-weight, the service life is long, high reliablity, at low cost and suitable
The advantages that answering environment capacity strong can provide position, speed and the posture information of motion carrier, have in posture observation and control technology field
Have broad application prospects.Carry out based on the research work of work have a very important significance, but there are still some problems needs
It further to solve.The precision of micro-inertia measuring element-micro-acceleration gauge and gyroscope determines Micro Inertial Measurement Unit unit
Measurement accuracy, therefore by using it is preceding to Micro Inertial Measurement Unit unit carry out calibration be of great significance, it may be determined that wherein
The parameters such as zero offset error, the scale factor of each inertial sensor.
The method of tradition calibration Micro Inertial Measurement Unit unit needs to provide benchmark by high-precision three-axle table, to turntable
Required precision is high, needs the longer nominal time, and cost is higher, and can not carry out other than laboratory to Micro Inertial Measurement Unit
Calibration, is not able to satisfy the demand of field calibration.
Summary of the invention
The purpose of the present invention is intended to solve above-mentioned one of technical problem at least to a certain extent.
For this purpose, the first purpose of this invention is to propose a kind of Rapid self-calibration side of Micro Inertial Measurement Unit unit
Method.This method can satisfy field calibration demand, reduces the calibration cost of Micro Inertial Measurement Unit unit, further increases calibration
Precision.
Second object of the present invention is to propose a kind of Rapid self-calibration device of Micro Inertial Measurement Unit unit.
In order to achieve the above object, the Rapid self-calibration side of the Micro Inertial Measurement Unit unit of first aspect present invention embodiment
Method, comprising the following steps: obtain Micro Inertial Measurement Unit unit and rotate to the real time data information of different location；Utilize 3 σ methods pair
Real time data information is handled to obtain new data information；Establish Micro Inertial Measurement Unit elemental error model；Pass through
Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model, resolve new data information, obtain
To each error term of Micro Inertial Measurement Unit unit.
The Rapid self-calibration method of the Micro Inertial Measurement Unit unit of the embodiment of the present invention, first acquisition micro-inertia measuring group
It closes unit to rotate to the real time data information of different location, then real time data information is handled to obtain new data letter
Breath, and Micro Inertial Measurement Unit elemental error model is established, it is surveyed finally by Levenberg-Marquard algorithm and micro- inertia
Assembled unit error model is measured, new data information is resolved, each error term of Micro Inertial Measurement Unit unit is obtained.
This method can satisfy field calibration demand, reduce the calibration cost of Micro Inertial Measurement Unit unit, further increase calibration essence
Degree.
In some instances, described that the real time data information is handled using 3 σ methods to obtain new data information tool
Body includes: to calculate the mean value of the real time data information to beWithThe residual error for calculating the real time data information is WithThe standard deviation for calculating the real time data information is WithIf the real time data letter
Measured value x in breathd(1≤d≤n)、yd(1≤d≤n) and zdThe residual error of (1≤d≤n) meets respectively:WithThen it is exceptional value and removes.
In some instances, the Micro Inertial Measurement Unit elemental error model of establishing includes: the micro-inertia measuring group
The micro-mechanical accelerometer and micro-mechanical gyroscope for closing unit establish error model；Wherein, the survey of the micro-mechanical accelerometer
Measure model are as follows: f=SaNaa+ba+εa, wherein f is the measured value of accelerometer, and a is acceleration input, baIt is the zero of accelerometer
Partially, SaFor the constant multiplier of accelerometer, NaCoefficient, ε are directed at for the installation of accelerometeraFor the measurement noise of accelerometer；Institute
State the measurement model of micro-mechanical gyroscope are as follows: ωg=SgNgω+bg+εg, wherein ωgFor the measured value of gyroscope, ω is angular speed
Input, bgFor the zero bias of gyroscope, SgFor the constant multiplier of gyroscope, NgCoefficient, ε are directed at for the installation of gyroscopegFor gyroscope
Measurement noise.
In some instances, the mathematical model of the Levenberg-Marquard algorithm isWherein, S is independent variable, gkFor gradient, GkFor Hesse matrix and hkRepeatedly for kth time
The Trust Region Radius in generation.
In some instances, the Rapid self-calibration method, further includes: analysis benefit is carried out to each error term
It repays.
In order to achieve the above object, the Rapid self-calibration of the Micro Inertial Measurement Unit unit of second aspect of the present invention embodiment fills
It sets, comprising: obtain module, rotate for obtaining Micro Inertial Measurement Unit unit to the real time data information of different location；Processing
Module, for being handled to obtain new data information to the real time data information using 3 σ methods；Module is established, for establishing
Micro Inertial Measurement Unit elemental error model；Module is resolved, for passing through Levenberg-Marquard algorithm and described micro- used
Property measurement assembled unit error model, the new data information is resolved, the Micro Inertial Measurement Unit unit is obtained
Each error term.
The Rapid self-calibration device of the Micro Inertial Measurement Unit unit of the embodiment of the present invention, first acquisition module obtain micro- used
Property measurement assembled unit rotate to the real time data information of different location, then processing module handles real time data information
New data information is obtained, and establishes module and establishes Micro Inertial Measurement Unit elemental error model, module is finally resolved and passes through
Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model, resolve new data information, obtain
To each error term of Micro Inertial Measurement Unit unit.The device can satisfy field calibration demand, reduce micro-inertia measuring group
The calibration cost for closing unit, further increases stated accuracy.
In some instances, the processing module is specifically used for: the mean value for calculating the real time data information isWithThe residual error for calculating the real time data information isWithCalculate the real time data
The standard deviation of information isWithIf
Measured value x in the real time data informationd(1≤d≤n)、yd(1≤d≤n) and zdThe residual error of (1≤d≤n) meets respectively:WithThen it is exceptional value and removes.
In some instances, the module of establishing further comprises: the micromechanics of the Micro Inertial Measurement Unit unit adds
Speedometer and micro-mechanical gyroscope establish error model；Wherein, the measurement model of the micro-mechanical accelerometer are as follows: f=SaNaa+
ba+εa, wherein f is the measured value of accelerometer, and a is acceleration input, baFor the zero bias of accelerometer, SaFor accelerometer
Constant multiplier, NaCoefficient, ε are directed at for the installation of accelerometeraFor the measurement noise of accelerometer；The micro-mechanical gyroscope
Measurement model are as follows: ωg=SgNgω+bg+εg, wherein ωgFor the measured value of gyroscope, ω is turning rate input, bgFor gyroscope
Zero bias, SgFor the constant multiplier of gyroscope, NgCoefficient, ε are directed at for the installation of gyroscopegFor the measurement noise of gyroscope.
In some instances, the mathematical model of the Levenberg-Marquard algorithm isWherein, S is independent variable, gkFor gradient, GkFor Hesse matrix and hkRepeatedly for kth time
The Trust Region Radius in generation.
In some instances, the Rapid self-calibration device further include: analysis compensating module, for each mistake
Poor item carries out analysis compensation.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the process of the Rapid self-calibration method of Micro Inertial Measurement Unit unit according to an embodiment of the invention
Figure；
Fig. 2 is the structural schematic diagram of Micro Inertial Measurement Unit unit according to an embodiment of the invention；
Fig. 3 is that Micro Inertial Measurement Unit unit Rapid self-calibration method according to an embodiment of the invention and tradition are demarcated
Comparison diagram after method position compensation；
Fig. 4 is that Micro Inertial Measurement Unit unit Rapid self-calibration method according to an embodiment of the invention and tradition are demarcated
Comparison diagram after method angle compensation；
The schematic diagram of the Rapid self-calibration device of Fig. 5 Micro Inertial Measurement Unit unit according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
By the different upturned position of design, flip angle, overturning sequence is static or permanent in conjunction with micro inertial measurement unit
When fixed angular speed inputs, the micro- inertial acceleration meter of three axis and the micro- inertial gyroscope output vector of three axis and there are identity relationships.
Equation is resolved, obtains Micro Inertial Measurement Unit items error parameter using numerical value calculation method by the overturning of multiple positions.
Fig. 1 is the process of the Rapid self-calibration method of Micro Inertial Measurement Unit unit according to an embodiment of the invention
Figure.
As shown in Figure 1, the Rapid self-calibration method of the Micro Inertial Measurement Unit unit may include:
In a step 101, Micro Inertial Measurement Unit unit is obtained to rotate to the real time data information of different location.
Specifically, Micro Inertial Measurement Unit unit is fixed on special tooling Hexahedron holding fixture, guarantee does not occur opposite
It is mobile, by data collection system, Micro Inertial Measurement Unit unit is acquired in the real time data information of overturning to different location.
It should be noted that determining connection data acquisition unit, host computer, connector etc., check whether route is correct, inspection
Look into errorless rear system electrification.According to default upturned position, flip angle, overturning sequence, to Micro Inertial Measurement Unit unit into more
Secondary overturning.Simultaneously to guarantee that data output quantity and data export accuracy, guarantee on each position, data acquire 3 minutes with
On, micro- inertia combination unit output data for being stored on each position.
Micro Inertial Measurement Unit unit Fast Calibration overturning path is illustrated below with reference to table 1.It is as shown in table 1:
1 Micro Inertial Measurement Unit unit Fast Calibration of table overturns path
More specifically, can high speed acquisition Micro Inertial Measurement Unit unit different location real time data information it is defeated
Out.
In order to which those skilled in the art become more apparent upon Micro Inertial Measurement Unit unit, illustrated below with reference to Fig. 2.Such as Fig. 2 institute
Show, including three axis micro-mechanical gyroscopes and three axis micro-mechanical accelerometers, three axis micromechanical gyros and three axis micro-machine accelerations
It is mounted on fixed pedestal into orthogonal respectively, by signal processing, compensating unit and interface circuit, exports three axis angular rates and add
Speed forms micro inertial measurement unit, can export three axis angular rates and 3-axis acceleration.
In a step 102, real time data information is handled to obtain new data information using 3 σ methods.
Specifically, the mean value of calculating real time data information isWithCalculate real time data information residual error be WithCalculate real time data information standard deviation be WithIf the measured value x in real time data informationd(1≤d≤n)、
yd(1≤d≤n) and zdThe residual error of (1≤d≤n) meets respectively:WithThen
For exceptional value and remove.
In step 103, Micro Inertial Measurement Unit elemental error model is established.
Specifically, the micro-acceleration gauge to Micro Inertial Measurement Unit unit and gyroscope establish error model respectively, such as
Under:
The measurement model of micro-mechanical accelerometer are as follows: f=SaNaa+ba+εa。
Wherein, f is the measured value of accelerometer, and a is acceleration input, baFor the zero bias of accelerometer, SaFor accelerometer
Constant multiplier, NaCoefficient, ε are directed at for the installation of accelerometeraFor the measurement noise of accelerometer.
The measurement model of micro-mechanical gyroscope are as follows: ωg=SgNgω+bg+εg。
Wherein, ωgFor the measured value of gyroscope, ω is turning rate input, bgFor the zero bias of gyroscope, SgFor gyroscope
Constant multiplier, NgCoefficient, ε are directed at for the installation of gyroscopegFor the measurement noise of gyroscope.It is converted by coordinate, is surveyed by micro- inertia
Amount unit output acquires ontology angular speed and acceleration, as shown in formula (1) and (2):
KaAnd KgThe constant multiplier and installation aligned relationship of accelerometer combination and gyroscope combination, gyro are expressed respectively
Angle between instrument and the sensitive axes and body coordinate system axis of accelerometer is low-angle, then
, whereinJth shaft alignement error angle is combined with accelerometer for the i-th axis of body coordinate system,For ontology coordinate
It is that the i-th axis combines jth shaft alignement error angle with gyroscope.f0And ω0Accelerometer combination and gyroscope combination are expressed respectively
Zero bias effect:ξaAnd ξgAccelerometer combination and gyroscope combination are expressed respectively
Noise effect.
At step 104, right by Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model
New data information is resolved, and each error term of Micro Inertial Measurement Unit unit is obtained.
Specifically, when micro inertial measurement unit is static or constant angular velocity inputs, there are identity relationships, such as formula
(3) and shown in (4):
Wherein, g is gravity acceleration value, gx、gyAnd gzThe respectively acceleration input of three axis accelerometer, θa、γaWith
The respectively angle of three axis accelerometer ideal sensitive axes and gravitational vectors.ωrFor turning rate input value, ωrx、ωryAnd ωrz
The respectively turning rate input of three-axis gyroscope, θg、γgWithRespectively three-axis gyroscope ideal sensitive axes and turning rate input
The angle of vector.
According to Micro Inertial Measurement Unit error model, in conjunction with Micro Inertial Measurement Unit unit identity, for repeatedly overturning
Error term is solved, that is, is solved:WithOptimal solution.
Using Levenberg-Marquard algorithm, solution changes Nonlinear System of Equations optimal value.The mathematical model of LM algorithm
ForIn conjunction with the mathematical model of LM, this is solved according to the following steps and non-linear optimal is asked
Topic: from initial point x0, μ0> 0 starts iteration, when walking to K, calculates xkAnd μk；Split-matrix Gk+μkI, if not positive definite, enables μk=4
μkAnd until repeating to positive definite；Solve system of linear equations (Gk+μkI)sk=-gkS outkAnd calculate rk；If rk< 0.25, enable μk+1=4 μk；
If rk> 0.75, enable μk+1=μk/2；If 0.25≤rk≤0.75 enables μk+1=μkIf rk≤ 0, illustrate that functional value is towards rising
Rather than downward trend has changed (opposite with the target of optimization), then another xk+1=xk, and and rk< 0.25 the case where, is equally to μk
It is handled.Conversely, in rkIn the case where > 0, xk+1=xk+sk.When | | gk| | < ε, wherein ε is a specified small positive number, when
When close to minimum point, the gradient of iteration point tends to 0.
It should be noted that Levenberg-Marquard algorithm is optimal solution and a kind of numerical solution for using in order to obtain
Calculation method, wherein algorithm realizes that process is more complicated.It is understood that first formula is exactly us for simulated target
The secondary model (optimal solution) of function, independent variable s, gk gradient, Gk are Hesse matrixes, and the hk in second formula is kth
The trusted zones upper bound (or be Trust Region Radius) of secondary iteration, therefore what second formula indicated is exactly that be displaced will be in trusted zones
Within the scope of boundary.In addition, it is any norm that the norm in second formula, which is not specified,.
Solution to ensure optimal problem is unique, and upturned position number should be no less than the number of undetermined coefficient, increases upturned position
The precision of solution can be improved in number, and different from traditional scaling method, these positions do not need strictly to be aligned.
In order to which those skilled in the art become more apparent upon the Micro Inertial Measurement Unit unit Rapid self-calibration method of the embodiment of the present invention
As a result, being illustrated below with reference to Fig. 3 and Fig. 4.
As Fig. 3 Micro Inertial Measurement Unit unit Rapid self-calibration method according to an embodiment of the invention and tradition are demarcated
After method position compensation shown in comparison diagram, it can be seen that Micro Inertial Measurement Unit unit proposed by the present invention Rapid self-calibration side
The result of method and the error of the result after traditional scaling method position compensation are very small.
As Fig. 4 Micro Inertial Measurement Unit unit Rapid self-calibration method according to an embodiment of the invention and tradition are demarcated
After method angle compensation shown in comparison diagram, it can be seen that Micro Inertial Measurement Unit unit proposed by the present invention Rapid self-calibration side
The result of method and the error of the result after traditional scaling method angle compensation are very small.
In step 105, analysis compensation is carried out to each error term.
The Rapid self-calibration method of the Micro Inertial Measurement Unit unit of the embodiment of the present invention, first acquisition micro-inertia measuring group
It closes unit to rotate to the real time data information of different location, then real time data information is handled to obtain new data letter
Breath, and Micro Inertial Measurement Unit elemental error model is established, it is surveyed finally by Levenberg-Marquard algorithm and micro- inertia
Assembled unit error model is measured, new data information is resolved, each error term of Micro Inertial Measurement Unit unit is obtained.
This method can satisfy field calibration demand, reduce the calibration cost of Micro Inertial Measurement Unit unit, further increase calibration essence
Degree.
It is corresponding with the Rapid self-calibration method of Micro Inertial Measurement Unit unit provided by the above embodiment, of the invention one
Kind embodiment also provides a kind of Rapid self-calibration device of control Micro Inertial Measurement Unit unit for inhibiting subsynchronous resonance, due to
The Rapid self-calibration device of Micro Inertial Measurement Unit unit provided in an embodiment of the present invention and micro- inertia provided by the above embodiment
The Rapid self-calibration method for measuring assembled unit has the same or similar technical characteristic, therefore in aforementioned Micro Inertial Measurement Unit
The embodiment of the Rapid self-calibration method of unit is also applied for the quick of Micro Inertial Measurement Unit unit provided in this embodiment
Self-calibration device, is not described in detail in the present embodiment.As shown in figure 5, the Micro Inertial Measurement Unit unit is quickly marked certainly
Determine device can include: obtain module 10, processing module 20, establish module 30 and resolve module 40.
Wherein, it obtains module 10 and is used to obtain Micro Inertial Measurement Unit unit and rotates to the real time data of different location and believe
Breath.
Specifically, Micro Inertial Measurement Unit unit is fixed on special tooling Hexahedron holding fixture, guarantee does not occur opposite
It is mobile, by data collection system, Micro Inertial Measurement Unit unit is acquired in the real time data information of overturning to different location.
Processing module 20 using 3 σ methods for handling real time data information to obtain new data information.
Module 30 is established for establishing Micro Inertial Measurement Unit elemental error model.
Module 40 is resolved to be used for through Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model,
New data information is resolved, each error term of Micro Inertial Measurement Unit unit is obtained.
In some instances, processing module 20 is specifically used for: the mean value for calculating real time data information isWithIt calculates
The residual error of real time data information isWithCalculate real time data information standard deviation beWithIf in real time data information
Measured value xd(1≤d≤n)、yd(1≤d≤n) and zdThe residual error of (1≤d≤n) meets respectively: WithThen it is exceptional value and removes.
In some instances, establishing module 30 further comprises: the micro-mechanical accelerometer of Micro Inertial Measurement Unit unit
Error model is established with micro-mechanical gyroscope；Wherein, the measurement model of micro-mechanical accelerometer are as follows: f=SaNaa+ba+εa,
In, f is the measured value of accelerometer, and a is acceleration input, baFor the zero bias of accelerometer, SaFor accelerometer scale because
Number, NaCoefficient, ε are directed at for the installation of accelerometeraFor the measurement noise of accelerometer.The measurement model of micro-mechanical gyroscope are as follows:
ωg=SgNgω+bg+εg, wherein ωgFor the measured value of gyroscope, ω is turning rate input, bgFor the zero bias of gyroscope, SgFor top
The constant multiplier of spiral shell instrument, NgCoefficient, ε are directed at for the installation of gyroscopegFor the measurement noise of gyroscope.
In some instances, the mathematical model of Levenberg-Marquard algorithm isWherein, S is independent variable, gkFor gradient, GkFor Hesse matrix and hkRepeatedly for kth time
The Trust Region Radius in generation.
In some instances, Rapid self-calibration device further include: analysis compensating module 50 is used to carry out each error term
Analysis compensation.
The Rapid self-calibration device of the Micro Inertial Measurement Unit unit of the embodiment of the present invention, first acquisition module obtain micro- used
Property measurement assembled unit rotate to the real time data information of different location, then processing module handles real time data information
New data information is obtained, and establishes module and establishes Micro Inertial Measurement Unit elemental error model, module is finally resolved and passes through
Levenberg-Marquard algorithm and Micro Inertial Measurement Unit elemental error model, resolve new data information, obtain
To each error term of Micro Inertial Measurement Unit unit.The device can satisfy field calibration demand, reduce micro-inertia measuring group
The calibration cost for closing unit, further increases stated accuracy.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (8)
1. a kind of Rapid self-calibration method of Micro Inertial Measurement Unit unit, which comprises the following steps:
Micro Inertial Measurement Unit unit is obtained to rotate to the real time data information of different location, according to default upturned position, overturning
Angle, overturning sequence, repeatedly overturn the Micro Inertial Measurement Unit unit；
The real time data information is handled to obtain new data information using 3 σ methods；
Establish Micro Inertial Measurement Unit elemental error model, wherein described to establish Micro Inertial Measurement Unit elemental error model packet
Include: the micro-mechanical accelerometer and micro-mechanical gyroscope of the Micro Inertial Measurement Unit unit establish error model；Wherein, described
The measurement model of micro-mechanical accelerometer are as follows: f=SaNaa+ba+εa, wherein f is the measured value of accelerometer, and a is that acceleration is defeated
Enter, baFor the zero bias of accelerometer, SaFor the constant multiplier of accelerometer, NaCoefficient, ε are directed at for the installation of accelerometeraTo add
The measurement noise of speedometer；The measurement model of the micro-mechanical gyroscope are as follows: ωg=SgNgω+bg+εg, wherein ωgFor gyroscope
Measured value, ω is turning rate input, bgFor the zero bias of gyroscope, SgFor the constant multiplier of gyroscope, NgFor the installation of gyroscope
It is directed at coefficient, εgFor the measurement noise of gyroscope；
By Levenberg-Marquard algorithm and the Micro Inertial Measurement Unit elemental error model, to the new data
Information is resolved, and each error term of the Micro Inertial Measurement Unit unit is obtained, and by designing different upturned positions, is turned over
Gyration, overturning sequence, in conjunction with when the Micro Inertial Measurement Unit unit is static or constant angular velocity inputs, the micro- inertia of three axis
Accelerometer and the micro- inertial gyroscope output vector of three axis and there are identity relationship, using numerical value calculation method, resolve equation,
Obtain each error term of the Micro Inertial Measurement Unit unit.
2. Rapid self-calibration method as described in claim 1, which is characterized in that described to be believed using 3 σ methods the real time data
Breath, which is handled to obtain new data information, to be specifically included:
The mean value for calculating the real time data information isWith
The residual error for calculating the real time data information isWith
The standard deviation for calculating the real time data information isWith
If the measured value x in the real time data informationd(1≤d≤n)、yd(1≤d≤n) and zdThe residual error of (1≤d≤n) point
Not Man Zu:WithThen it is exceptional value and removes.
3. Rapid self-calibration method as described in claim 1, which is characterized in that the Levenberg-Marquard algorithm
Mathematical model isWherein, S is independent variable, gkFor gradient, GkFor Hesse matrix and
hkFor the Trust Region Radius of kth time iteration.
4. Rapid self-calibration method as described in claim 1, which is characterized in that further include: each error term is carried out
Analysis compensation.
5. a kind of Rapid self-calibration device of Micro Inertial Measurement Unit unit characterized by comprising
Module is obtained, is rotated for obtaining Micro Inertial Measurement Unit unit to the real time data information of different location, according to default
Upturned position, flip angle, overturning sequence, repeatedly overturn the Micro Inertial Measurement Unit unit；
Processing module, for being handled to obtain new data information to the real time data information using 3 σ methods；
Module is established, for establishing Micro Inertial Measurement Unit elemental error model, wherein the module of establishing further comprises:
The micro-mechanical accelerometer and micro-mechanical gyroscope of the Micro Inertial Measurement Unit unit establish error model；Wherein, described micro-
The measurement model of mechanical accelerometer are as follows: f=SaNaa+ba+εa, wherein f is the measured value of accelerometer, and a is that acceleration is defeated
Enter, baFor the zero bias of accelerometer, SaFor the constant multiplier of accelerometer, NaCoefficient, ε are directed at for the installation of accelerometeraTo add
The measurement noise of speedometer；The measurement model of the micro-mechanical gyroscope are as follows: ωg=SgNgω+bg+εg, wherein ωgFor gyroscope
Measured value, ω is turning rate input, bgFor the zero bias of gyroscope, SgFor the constant multiplier of gyroscope, NgFor the installation of gyroscope
It is directed at coefficient, εgFor the measurement noise of gyroscope；
Module is resolved, for passing through Levenberg-Marquard algorithm and the Micro Inertial Measurement Unit elemental error model,
The new data information is resolved, each error term of the Micro Inertial Measurement Unit unit is obtained, by designing not
With upturned position, flip angle, overturning sequence is static in conjunction with the Micro Inertial Measurement Unit unit or constant angular velocity is defeated
Fashionable, the micro- inertial acceleration meter of three axis and the micro- inertial gyroscope output vector of three axis and there are identity relationship use numerical solution
Calculation method resolves equation, obtains each error term of the Micro Inertial Measurement Unit unit.
6. Rapid self-calibration device as claimed in claim 5, which is characterized in that the processing module is specifically used for:
The mean value for calculating the real time data information isWith
The residual error for calculating the real time data information isWith
The standard deviation for calculating the real time data information isWith
If the measured value x in the real time data informationd(1≤d≤n)、yd(1≤d≤n) and zdThe residual error of (1≤d≤n) point
Not Man Zu:WithThen it is exceptional value and removes.
7. Rapid self-calibration device as claimed in claim 5, which is characterized in that the Levenberg-Marquard algorithm
Mathematical model isWherein, S is independent variable, gkFor gradient, GkFor Hesse matrix and
hkFor the Trust Region Radius of kth time iteration.
8. Rapid self-calibration device as claimed in claim 5, which is characterized in that further include: analysis compensating module, for institute
It states each error term and carries out analysis compensation.
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