CN108286987A - A kind of unmanned plane flies the calibration method of control module MEMS motion sensors - Google Patents
A kind of unmanned plane flies the calibration method of control module MEMS motion sensors Download PDFInfo
- Publication number
- CN108286987A CN108286987A CN201711240086.5A CN201711240086A CN108286987A CN 108286987 A CN108286987 A CN 108286987A CN 201711240086 A CN201711240086 A CN 201711240086A CN 108286987 A CN108286987 A CN 108286987A
- Authority
- CN
- China
- Prior art keywords
- motion sensors
- mems motion
- calibration
- static
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention provides the calibration methods that a kind of unmanned plane flies control module MEMS motion sensors, static data and dynamic data are acquired by simple and practicable method, and the calibration parameter for calculating sensor as early as possible with the data of acquisition, for compensating the zero bias and temperature drift of sensor.Compared with prior art, this method is simpler easy, can effectively improve the measurement accuracy of sensor, reduces the cumulative errors for flying control computation, improves the reliability of flight control data, enhance flight safety.
Description
Technical field
The present invention relates to sensor calibration techniques, and in particular to be that a kind of unmanned plane flies control module MEMS motion sensors
Calibration method, be mainly used for improve sensor measurement accuracy, and then improve unmanned plane during flying safety.
Background technology
MEMS (MEMS, Micro-Electro-Mechanical System) is collection microsensor, micro- execution
The micro- energy of device, micro mechanical structure, micro battery, signal processing and control circuit, high-performance electronic integrated device, interface, communication etc.
In the microdevice or system of one.Since MEMS has micromation, intelligent, multi-functional, high integration and suitable for high-volume
The characteristics of production, is therefore widely used in the field of electronics, medicine, industry, automobile and aerospace.
Common MEMS product includes mems accelerometer, MEMS microphone, micro motor, Micropump, micro- shakes at present
Son, MEMS optical sensors, MEMS pressure sensor, MEMS gyroscope, MEMS humidity sensors, MEMS gas sensors and
MEMS motion sensors etc..
With the rapid development of unmanned plane industry, MEMS motion sensors are applied because encapsulating the advantages that small, at low cost
To fast development.But the disadvantage that current MEMS motion sensor generally existing zero bias are unstable, temperature drift is larger, lead to nobody
The error of machine flight control data is larger, and causing flight safety, there are hidden danger.
Invention content
For this purpose, the purpose of the present invention is to provide a kind of raising sensor accuracy class, ensure unmanned plane during flying safety
The calibration method of MEMS motion sensors.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of unmanned plane flies the calibration method of control module MEMS motion sensors, including：
Acquire the full temperature static measurement values in six faces of MEMS motion sensors；
The static calibration numerical value that MEMS motion sensors are calculated according to the full temperature static measurement values, then passes through multinomial
It is fitted the variation tendency of static calibration value with tem-perature, complete warm static calibration parameter is obtained, wherein the fitting of a polynomial is base
Be fitted in the cubic polynomial of least square method, the complete temperature static calibration parameter be fitted obtained by cubic polynomial be
Number；
The dynamic measurement of three axis of MEMS motion sensors is acquired, and calculates the dynamic calibration parameter of sensor；
By the full temperature static calibration parameter and dynamic calibration parameter to the zero bias of MEMS motion sensors and temperature drift into
Row compensation.
Preferably, the full temperature static measurement values in six faces of the acquisition MEMS motion sensors, including：
MEMS motion sensors are placed in the insulating box for setting low temperature, after freezing 2 hours, take out insulating box；
Then the wherein one side of MEMS motion sensors is put into heating and heat-insulating device vertically downward, heating is 1-2 small
When reach MEMS motion sensor working ranges high temperature, with acquire MEMS motion sensors work as front full temperature static measurement
Value；
The above method, then the full temperature static measurement in other five faces of acquisition MEMS motion sensors successively are used later
Value；
The wherein described low temperature is no more than the lowest temperature of MEMS motion sensor working ranges；The high temperature is transported no more than MEMS
The highest temperature of dynamic working sensor range.
Preferably, by MEMS motion sensors be placed in a tool there are six normal surface cuboid aluminium box in, then by the length
Cube aluminium box is placed in the insulating box, and cement resistor, the cement resistor are provided on the inside of the upper cover of the cuboid aluminium box
It is corresponding with MEMS motion sensors to pass through connection to external power supply module.
Preferably, the static calibration numerical value of the MEMS motion sensors, including gyroscope static calibration value and acceleration
Count static calibration values；The gyroscope static calibration value is the offset of three axis, is equal to gyroscope static measurement values；The acceleration
Degree meter static calibration values are the offset and ratio value of three axis, six equations are established by the measured value in six faces, by solution side
The offset and ratio value of three axis of the accelerometer can be obtained in journey group.
Preferably, the variation tendency by fitting of a polynomial static calibration value with tem-perature obtains the static school of full temperature
Quasi- parameter, including：Computing gyroscope zero bias calibration parameter, the gyroscope zero bias calibration parameter computational methods include：
The static data is divided for 0.1 degree with temperature for step-length；The data mean value within the scope of each step-length is taken to make
For the measured value of sensor at Current Temperatures；
It is fitted measured value variation with temperature trend using the cubic polynomial based on least square method, while being calculated quasi-
Close variance；
The variance for comparing six faces selects calibration parameter of the polynomial coefficient of variance yields minimum as gyroscope.
Preferably, it dynamic calibration is proceeded by after static calibration data write-in MEMS motion sensors Flash, obtains
The calibration parameter of Gyro scale value.
Preferably, the variation tendency by fitting of a polynomial static calibration value with tem-perature obtains the static school of full temperature
Quasi- parameter, including：Accelerometer bias calibration parameter is calculated, the accelerometer bias calibration parameter computational methods include：
The static data is divided for 0.1 degree with temperature for step-length, the data mean value within the scope of each step-length is taken to make
For the measured value of sensor at Current Temperatures；
Under conditions of totally stationary, the theoretical measured value of accelerometer should be acceleration of gravity G, if three axis of accelerometer
Zero bias and ratio value are all unknown number, establish the equilibrium relationships between the theoretical measured value and actual measured value；
The deviation between the theoretical measured value in each face and actual measured value is represented according to the equilibrium relationships；
Object function is established, object function is made to be equal to the sum of the deviation in each face, solving makes object function minimum
Solution is optimal solution, to obtain the zero bias and ratio value calibration parameter of accelerometer.
Preferably, the dynamic measurement of three axis of acquisition MEMS motion sensors, and calculate the dynamic calibration of sensor
Parameter, including：
By the static calibration parameter read-in sensor assembly and store；
By the MEMS motion sensors as remains stationary in a turntable plane, and keep the MEMS motion sensors
One axis overlaps remains stationary perpendicular to turntable plane with initial position after 10 circle of rotation, the practical rotation angle value of determination and
Sensor measurement angle value；
The dynamic data of other two axis of the MEMS motion sensors is acquired in the above manner；
The ratio for calculating the practical rotation angle value and the measurement angle value, as the MEMS motion sensors top
The ratio value calibration parameter of spiral shell instrument.
Unmanned plane provided by the invention flies the calibration method of control module MEMS motion sensors, passes through simple and practicable method
Static data and dynamic data are acquired, and calculates the calibration parameter of sensor as early as possible with the data of acquisition, is passed for compensating
The zero bias and temperature drift of sensor.Compared with prior art, this method is simpler easy, can effectively improve the measurement essence of sensor
Degree reduces the cumulative errors for flying control computation, improves the reliability of flight control data, enhance flight safety.
Description of the drawings
Fig. 1 is static parameter computational algorithm flow chart of the present invention；
Fig. 2 is gyro data fitting effect schematic diagram of the present invention；
Fig. 3 is accelerometer data fitting effect schematic diagram of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention is 0 using the theoretical measured value of gyroscope under static state and the theoretical measured value of accelerometer is
Acceleration of gravity is condition, acquires the full temperature static measurement values of sensor under static state, is calculated according to the condition each
The static calibration values of sensor at temperature include the zero bias and ratio value of the zero bias of gyroscope and accelerometer, then lead to
The variation of static calibration values institute temperature, obtains the calibration parameter of sensor described in over-fitting.The ratio value calibration parameter of gyroscope
Calculating be to determine the calibration parameter of the ratio value by comparing measured value and actual value.
The characteristics of to be on MATLAB platforms is the computational algorithm of the calibration parameter of the present invention realizes, MATLAB platforms is
Mass data can quickly be handled, abundant library function in MATLAB so that the realization of the algorithm is more succinct, efficiently.It will
The realization of the algorithm is programmed by the graphic user interface of MATLAB can also be achieved data visualization.
The present invention provides the calibration methods that a kind of unmanned plane flies control module MEMS motion sensors, including：
The full temperature static measurement values in six faces of MEMS motion sensors are acquired, concrete mode is as follows：
Multiple MEMS motion sensors or winged control module are fixed to one first, and there are six the cuboid aluminium of normal surface
In box, the upper cover design of aluminium box arranges inside aluminium box to sensor at the structure that can fix cement resistor before freezing
Module and the circuit of cement resistor power supply.Can ensure in this way acquire six normal surfaces of sensor assembly static data when only
Aluminium box need to be overturn successively, additionally it is possible to while the data of multiple sensor assemblies are acquired, and power supply can be fast implemented.
Secondly, it the aluminium box for fixing sensor assembly, is put into the insulating box for setting low temperature, low temperature is no more than biography
The lowest temperature of sense device working range, with anti-tamper sensor.Or so 2 hours are freezed, aluminium box is taken out, is put into is ready for rapidly
In good attemperator, the peace and quiet for attemperator being placed on antinoise and vibration interference are indoor, give cement resistor and sensor
Module is powered simultaneously, is adjusted to the supply current of cement resistor, is ensured that heating speed should not be too fast, is usually heated 1-2 hour
The high temperature (being no more than the highest temperature) of sensor assembly working range is reached, heating is completed to cement resistor and sensor die
Block powers off.
Above step is repeated each face of aluminium box successively downward, to which six normal surfaces of sensor assembly can be acquired
Static data.
As shown in FIG. 1, FIG. 1 is static parameter computational algorithm flow charts of the present invention.When six faces of MEMS motion sensors
After full temperature static measurement values acquisition is completed, then need to calculate the quiet of MEMS motion sensors according to the full temperature static measurement values
State calibration figure exports data from storage card first, and data are exported to TXT formatted files by the present embodiment, use MATLAB
Write the Program Generating graphic user interface that calibration parameter is calculated with static data.
Then by the variation tendency of fitting of a polynomial static calibration value with tem-perature, complete warm static calibration parameter is obtained,
The wherein described fitting of a polynomial is the cubic polynomial fitting based on least square method, and the full temperature static calibration parameter is fitting
The coefficient of the cubic polynomial of gained.
As shown in Fig. 2, Fig. 2 is gyro data fitting effect schematic diagram of the present invention.Wherein gyroscope zero bias calibration parameter
Computational algorithm be：The static data is divided for 0.1 degree with temperature for step-length；Take the data within the scope of each step-length equal
It is worth the measured value as sensor at Current Temperatures；Measured value is fitted with temperature with the cubic polynomial based on least square method
Variation tendency, while calculating fitting variance；The variance for comparing six faces, select the polynomial coefficient of variance yields minimum as
Then the calibration parameter of gyroscope is written static calibration data and flies to proceed by dynamic calibration after control module Flash, obtains
The calibration parameter of Gyro scale value.
As shown in figure 3, Fig. 3 is accelerometer data fitting effect schematic diagram of the present invention.Wherein accelerometer bias is calibrated
The computational algorithm of parameter is：The static data is divided for 0.1 degree with temperature for step-length；Take the number within the scope of each step-length
Measured value according to mean value as sensor at Current Temperatures；Under conditions of totally stationary, the theoretical measured value of accelerometer should be
Acceleration of gravity G establishes the theoretical measured value and reality if the zero bias of three axis of accelerometer and ratio value are all unknown number
Equilibrium relationships between measured value；The theoretical measured value and reality in each face can be represented according to the equilibrium relationships
Deviation between measured value；Object function is established, so that object function is equal to the sum of the deviation in each face, solving makes target letter
The minimum solution of number is optimal solution, to obtain the zero bias and ratio value calibration parameter of accelerometer.As seen from Figure 3, add
Value variation with temperature trend after speedometer X-axis measured value and calibration.
Later, the dynamic measurement of three axis of acquisition MEMS motion sensors, and calculate the dynamic calibration parameter of sensor.
Wherein, acquisition dynamic data, which needs one, parallel rotating and fix the winged turntable for controlling module.In room temperature item
Under part, the MEMS motion sensors are placed in remains stationary on the turntable plane, keep the MEMS motion-sensings
One axis of device overlaps remains stationary with initial position after turntable plane, 10 circle of rotation, then practical rotation angle value is
3600 degree, re-record the measurement angle value of the MEMS motion sensors；The MEMS motion sensors are acquired in this manner
The dynamic data of other two axis.The ratio value calibration parameter of so gyroscope is the practical rotation angle value and the survey
The ratio of angulation angle value.
Finally, by the full temperature static calibration parameter and dynamic calibration parameter to the zero bias and temperature of MEMS motion sensors
Drift compensates.
The present invention is obtained by the above calibration method after calibration parameter, so that it may with the measured value to each axis of sensor
It is corrected with most six parameters, and each within the scope of six parameter correction senor operating temperatures can be used
Measured value at temperature.Calibration method of the present invention is at low cost, easy realization, and the error to can effectively reduce sensor,
Measurement accuracy is improved, and then improves flight safety.
In conclusion the present invention is by sensor assembly, certain one side after Cryo Equipment freezing is put into heating guarantor vertically downward
Warm device acquires sensor warm static measurement values entirely, adjusts sensor die Block direction later, acquires other five of sensor successively
The full temperature static measurement values of normal surface；Transducer dwell calibration figure is calculated with the measured value of each temperature spot, is then used more
The variation tendency of item formula fitting static calibration value with tem-perature, obtains complete warm static calibration parameter；It is adopted under room temperature with turntable
The dynamic measurement for collecting three axis of sensor, calculates the dynamic calibration parameter of sensor.The static state that this programme passes through acquisition sensor
Data and dynamic data can quickly calculate the calibration parameter of the offset and ratio value of sensor as sensor, carry
High sensor accuracy class, to reduce the cumulative errors for flying control algorithm.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (8)
1. a kind of unmanned plane flies the calibration method of control module MEMS motion sensors, which is characterized in that including：
Acquire the full temperature static measurement values in six faces of MEMS motion sensors；
The static calibration numerical value that MEMS motion sensors are calculated according to the full temperature static measurement values, then passes through fitting of a polynomial
The variation tendency of static calibration value with tem-perature obtains complete warm static calibration parameter, wherein the fitting of a polynomial is based on most
The cubic polynomial of small square law is fitted, and the full temperature static calibration parameter is the coefficient of the cubic polynomial of fitting gained；
The dynamic measurement of three axis of MEMS motion sensors is acquired, and calculates the dynamic calibration parameter of sensor；
The zero bias and temperature drift of MEMS motion sensors are mended by the full temperature static calibration parameter and dynamic calibration parameter
It repays.
2. unmanned plane as described in claim 1 flies the calibration method of control module MEMS motion sensors, which is characterized in that described
The full temperature static measurement values in six faces of MEMS motion sensors are acquired, including：
MEMS motion sensors are placed in the insulating box for setting low temperature, after freezing 2 hours, take out insulating box；
Then the wherein one side of MEMS motion sensors is put into heating and heat-insulating device vertically downward, 1-2 hour of heating arrives
Up to the high temperature of MEMS motion sensor working ranges, to acquire the full temperature static measurement values of MEMS motion sensors；
The above method, then the full temperature static measurement values in other five faces of acquisition MEMS motion sensors successively are used later；
The wherein described low temperature is no more than the lowest temperature of MEMS motion sensor working ranges；The high temperature is no more than MEMS movements and passes
The highest temperature of sense device working range.
3. unmanned plane as claimed in claim 2 flies the calibration method of control module MEMS motion sensors, which is characterized in that will
MEMS motion sensors are placed in a tool there are six in the cuboid aluminium box of normal surface, and the cuboid aluminium box is then placed in the perseverance
In incubator, cement resistor, the cement resistor and MEMS motion sensors pair are provided on the inside of the upper cover of the cuboid aluminium box
Connection to external power supply module should be passed through.
4. unmanned plane as claimed in claim 3 flies the calibration method of control module MEMS motion sensors, which is characterized in that described
The static calibration numerical value of MEMS motion sensors, including gyroscope static calibration value and accelerometer static calibration values；The top
Spiral shell instrument static calibration values are the offset of three axis, are equal to gyroscope static measurement values；The accelerometer static calibration values are three
The offset and ratio value of axis establish six equations by the measured value in six faces, the acceleration can be obtained by solving equations
The offset and ratio value of degree three axis of meter.
5. unmanned plane as claimed in claim 4 flies the calibration method of control module MEMS motion sensors, which is characterized in that described
By the variation tendency of fitting of a polynomial static calibration value with tem-perature, complete warm static calibration parameter is obtained, including：Calculate gyro
Instrument zero bias calibration parameter, the gyroscope zero bias calibration parameter computational methods include：
The static data is divided for 0.1 degree with temperature for step-length；It takes the data mean value within the scope of each step-length to be used as to work as
The measured value of sensor at preceding temperature；
It is fitted measured value variation with temperature trend using the cubic polynomial based on least square method, while calculating fitting side
Difference；
The variance for comparing six faces selects calibration parameter of the polynomial coefficient of variance yields minimum as gyroscope.
6. unmanned plane as claimed in claim 5 flies the calibration method of control module MEMS motion sensors, which is characterized in that quiet
Dynamic calibration is proceeded by after state calibration data write-in MEMS motion sensors Flash, obtains the calibration of Gyro scale value
Parameter.
7. unmanned plane as claimed in claim 4 flies the calibration method of control module MEMS motion sensors, which is characterized in that described
By the variation tendency of fitting of a polynomial static calibration value with tem-perature, complete warm static calibration parameter is obtained, including：It calculates and accelerates
Degree meter zero bias calibration parameter, the accelerometer bias calibration parameter computational methods include：
The static data is divided for 0.1 degree with temperature for step-length, takes the data mean value within the scope of each step-length to be used as and works as
The measured value of sensor at preceding temperature；
Under conditions of totally stationary, the theoretical measured value of accelerometer should be acceleration of gravity G, if the zero bias of three axis of accelerometer
And ratio value is all unknown number, establishes the equilibrium relationships between the theoretical measured value and actual measured value；
The deviation between the theoretical measured value in each face and actual measured value is represented according to the equilibrium relationships；
Object function is established, object function is made to be equal to the sum of the deviation in each face, solving makes the solution of object function minimum i.e.
For optimal solution, to obtain the zero bias and ratio value calibration parameter of accelerometer.
8. unmanned plane as described in claim 1 flies the calibration method of control module MEMS motion sensors, which is characterized in that described
The dynamic measurement of three axis of MEMS motion sensors is acquired, and calculates the dynamic calibration parameter of sensor, including：
By the static calibration parameter read-in sensor assembly and store；
By the MEMS motion sensors as remains stationary in a turntable plane, and keep the MEMS motion sensors one
Axis overlaps remains stationary with initial position after turntable plane, 10 circle of rotation, determines practical rotation angle value and sensing
Device measurement angle value；
The dynamic data of other two axis of the MEMS motion sensors is acquired in the above manner；
The ratio for calculating the practical rotation angle value and the measurement angle value, as the MEMS motion sensors gyroscope
Ratio value calibration parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711240086.5A CN108286987A (en) | 2017-11-30 | 2017-11-30 | A kind of unmanned plane flies the calibration method of control module MEMS motion sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711240086.5A CN108286987A (en) | 2017-11-30 | 2017-11-30 | A kind of unmanned plane flies the calibration method of control module MEMS motion sensors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108286987A true CN108286987A (en) | 2018-07-17 |
Family
ID=62831785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711240086.5A Pending CN108286987A (en) | 2017-11-30 | 2017-11-30 | A kind of unmanned plane flies the calibration method of control module MEMS motion sensors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108286987A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109164829A (en) * | 2018-10-23 | 2019-01-08 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm system and control method based on device for force feedback and VR perception |
| CN109238311A (en) * | 2018-11-05 | 2019-01-18 | 珠海全志科技股份有限公司 | A kind of temperature-compensation method and device of MEMS sensor |
| CN110726852A (en) * | 2019-10-09 | 2020-01-24 | 湖南海迅自动化技术有限公司 | MEMS accelerometer temperature compensation method |
| CN110823280A (en) * | 2018-07-23 | 2020-02-21 | 精楷电子科技（上海）有限公司 | Temperature and humidity sensor system |
| CN111656141A (en) * | 2019-10-29 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Heating method for inertial sensor of unmanned robot |
| CN112254742A (en) * | 2020-10-13 | 2021-01-22 | 天津津航计算技术研究所 | Online fitting method for temperature compensation parameters of MEMS (micro-electromechanical systems) inertial device |
| CN112781613A (en) * | 2020-12-02 | 2021-05-11 | 普宙飞行器科技（深圳）有限公司 | Calibration method of unmanned aerial vehicle sensor |
| CN112815980A (en) * | 2020-12-31 | 2021-05-18 | 天通盛邦通信科技（苏州）有限公司 | Automatic calibration method for receiving-in-motion sensor |
| CN113433899A (en) * | 2021-06-16 | 2021-09-24 | 南京航空航天大学 | Signal detection and control method based on serial communication |
| CN113758515A (en) * | 2021-08-16 | 2021-12-07 | 深圳市睿联技术股份有限公司 | Zero calibration method, zero calibration device, electronic equipment and computer-readable storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196462A (en) * | 2013-02-28 | 2013-07-10 | 南京航空航天大学 | Compensation method for error calibration of MEMS gyroscope in MIMU |
| CN104596547A (en) * | 2015-01-27 | 2015-05-06 | 北京航天时代光电科技有限公司 | Full-temperature and full-dynamic testing method of acceleration measurement channel of inertia measurement device |
| CN105890593A (en) * | 2016-04-06 | 2016-08-24 | 浙江大学 | MEMS inertial navigation system and track reconstruction method based on same |
| CN106546267A (en) * | 2016-10-27 | 2017-03-29 | 陕西航天时代导航设备有限公司 | A kind of zero-bit temperature calibration method of rate gyroscope |
-
2017
- 2017-11-30 CN CN201711240086.5A patent/CN108286987A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196462A (en) * | 2013-02-28 | 2013-07-10 | 南京航空航天大学 | Compensation method for error calibration of MEMS gyroscope in MIMU |
| CN104596547A (en) * | 2015-01-27 | 2015-05-06 | 北京航天时代光电科技有限公司 | Full-temperature and full-dynamic testing method of acceleration measurement channel of inertia measurement device |
| CN105890593A (en) * | 2016-04-06 | 2016-08-24 | 浙江大学 | MEMS inertial navigation system and track reconstruction method based on same |
| CN106546267A (en) * | 2016-10-27 | 2017-03-29 | 陕西航天时代导航设备有限公司 | A kind of zero-bit temperature calibration method of rate gyroscope |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823280A (en) * | 2018-07-23 | 2020-02-21 | 精楷电子科技（上海）有限公司 | Temperature and humidity sensor system |
| CN109164829A (en) * | 2018-10-23 | 2019-01-08 | 哈尔滨工业大学（深圳） | A kind of flight mechanical arm system and control method based on device for force feedback and VR perception |
| CN109238311A (en) * | 2018-11-05 | 2019-01-18 | 珠海全志科技股份有限公司 | A kind of temperature-compensation method and device of MEMS sensor |
| CN110726852A (en) * | 2019-10-09 | 2020-01-24 | 湖南海迅自动化技术有限公司 | MEMS accelerometer temperature compensation method |
| CN111656141A (en) * | 2019-10-29 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Heating method for inertial sensor of unmanned robot |
| WO2021081781A1 (en) * | 2019-10-29 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Heating method for inertial sensor of unmanned robot |
| CN112254742A (en) * | 2020-10-13 | 2021-01-22 | 天津津航计算技术研究所 | Online fitting method for temperature compensation parameters of MEMS (micro-electromechanical systems) inertial device |
| CN112254742B (en) * | 2020-10-13 | 2022-08-09 | 天津津航计算技术研究所 | Online fitting method for temperature compensation parameters of MEMS (micro-electromechanical systems) inertial device |
| CN112781613A (en) * | 2020-12-02 | 2021-05-11 | 普宙飞行器科技（深圳）有限公司 | Calibration method of unmanned aerial vehicle sensor |
| CN112815980A (en) * | 2020-12-31 | 2021-05-18 | 天通盛邦通信科技（苏州）有限公司 | Automatic calibration method for receiving-in-motion sensor |
| CN113433899A (en) * | 2021-06-16 | 2021-09-24 | 南京航空航天大学 | Signal detection and control method based on serial communication |
| CN113758515A (en) * | 2021-08-16 | 2021-12-07 | 深圳市睿联技术股份有限公司 | Zero calibration method, zero calibration device, electronic equipment and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108286987A (en) | A kind of unmanned plane flies the calibration method of control module MEMS motion sensors | |
| CN103162677B (en) | Digital geological compass and method for measuring geological occurrence | |
| CN104459828B (en) | Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes | |
| KR20150082374A (en) | Estimating the gravity vector in a world coordinate system using an accelerometer in a mobile device | |
| CN106249744B (en) | A kind of small-sized rotor craft height control method based on second level complementary filter | |
| CN109709628B (en) | Calibration method for gravity gradiometer of rotating accelerometer | |
| JP5445270B2 (en) | Calibration data acquisition method, acceleration sensor output correction method, and calibration data acquisition system | |
| CN107390155A (en) | A kind of Magnetic Sensor calibrating installation and method | |
| CN202869645U (en) | Portable vibration measuring instrument based on Android platform mobile phone | |
| CN102914414A (en) | Vibration measuring instrument based on Android platform mobile phone and detection method thereof | |
| Tkalich et al. | Analysis of errors in micromechanical devices | |
| CN101720422A (en) | Method for compensating for temperature measurement error in a sond. | |
| Ament et al. | Isolated rotor forward flight testing from one atmosphere down to martian atmospheric densities | |
| Dichev et al. | A gyro-free system for measuring the parameters of moving objects | |
| KR101859771B1 (en) | Terminal device for correcting gyro-sensor sensing value and accelation sensor sensing value and method for controlling thereof | |
| CN201116875Y (en) | Micro-machinery inertial navigation device | |
| US10371713B2 (en) | Measurement of the flow velocity and the flow direction of gases and liquids | |
| CN113959464B (en) | Gyroscope-assisted accelerometer field calibration method and system | |
| KR101181755B1 (en) | Apparatus and method for calculating error of inertial measurement unit | |
| Zhang et al. | Implementation and complexity analysis of orientation estimation algorithms for human body motion tracking using low-cost sensors | |
| KR101364183B1 (en) | Slope-angle sensor with accuracy in steady state and transient state | |
| RU2668954C1 (en) | Measuring unit for gravitational gradiometer | |
| CN112902954A (en) | Tower frame shaking sensor and tower frame shaking angle measuring method | |
| CN107167113A (en) | A kind of inclination detecting device and its angle calculation method | |
| Wang et al. | Temperature compensation for gyroscope free micro inertial measurement unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180717 |
|
| RJ01 | Rejection of invention patent application after publication |