CN109211279B - System and method for automatic calibration of non-linearity of MIMU gyroscope - Google Patents
System and method for automatic calibration of non-linearity of MIMU gyroscope Download PDFInfo
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- CN109211279B CN109211279B CN201811316921.3A CN201811316921A CN109211279B CN 109211279 B CN109211279 B CN 109211279B CN 201811316921 A CN201811316921 A CN 201811316921A CN 109211279 B CN109211279 B CN 109211279B
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Abstract
The invention discloses a system and a method for automatic non-linearity calibration of an MIMU gyroscope, wherein a turntable bears the MIMU gyroscope to rotate at a preset angular speed; the data acquisition unit acquires angular velocity data of 5-degree/s and 10-degree/s rotation speeds of the MIMU gyroscope mounted on the rotary table in the positive direction and the negative direction respectively; and calculating the data acquired by the data acquisition unit to realize the calibration of the identification sensitive axial direction and the installation error. The system and the method provided by the patent realize automation of the calibration process, avoid errors caused by manual operation, and improve the calibration precision and the working efficiency.
Description
Technical Field
The invention belongs to the technical field of calibration and test of micro-inertia measurement units, and particularly relates to a system and a method for automatic nonlinear calibration of an MIMU gyroscope.
Background
The existing method for calibrating the nonlinearity of the MIMU (Miniature Inertial Measurement Unit) is to install the device on a turntable and provide different rotating speeds through the turntable to respectively realize the nonlinearity calibration of three axial gyroscopes. In the calibration process, the calibration precision is reduced due to factors such as simultaneous calibration of multiple devices in different axial directions, different installation positions of inertia devices, MIMU installation positions and angle errors, the calibration process and data processing are very complicated, and human factor errors can be introduced.
Disclosure of Invention
The purpose of the invention is as follows:
the patent provides a novel MIMU gyroscope nonlinearity degree automatic calibration system and method based on axial automatic identification and error automatic calibration, which utilize a computer to realize calibration process automation for data acquisition, a power supply, a single-axis turntable and a three-axis turntable program control, and utilize positive and negative low-speed point data to realize identification of sensitive axial direction and calibration of installation errors.
The technical solution for realizing the purpose of the invention is as follows:
a system for MIMU gyroscope nonlinearity automatic calibration is characterized by comprising:
a turntable for carrying one or more MIMUs for rotation at a predetermined angular velocity;
the data acquisition unit is used for acquiring output data of a gyroscope of an MIMU (micro inertial measurement Unit) arranged on the rotary table or output data of the accelerometer and the gyroscope at the rotating speeds of 5 degrees/s and 10 degrees/s in the positive direction and the negative direction respectively;
and the computer is used for calculating the data acquired by the data acquisition unit, determining the column of the sensitive axis data and the actual measurement scale factor of the gyroscope by fitting the acquired data, selecting an input angular velocity array with the minimum maximum input angular velocity from the actual input angular velocity array as a nonlinear calibration input angular velocity array, calibrating the nonlinearity of the gyroscope according to the nonlinear calibration input angular velocity array, rotating the rotary table according to the nonlinear calibration input angular velocity array, acquiring and recording the angular velocity data, and linearly fitting the gyroscope in the mounting axis direction in each MIMU according to the sensitive axis data and the actual input angular velocity array to finish the nonlinear calibration of the gyroscope in the mounting axis direction of each MIMU.
The rotary table is a single-shaft rotary table or a three-shaft rotary table.
Because each MIMU comprises X, Y, Z accelerometers and gyroscopes with mutually vertical axial directions, the three axial directions are calibrated in turn when the gyroscopes are calibrated, and one axial direction, namely one gyroscope, is calibrated by using a plurality of angular velocities; and after one axial calibration is finished, the other two axial gyroscopes, namely the two gyroscopes, are calibrated in sequence.
A method for automatic calibration of the nonlinearity of an MIMU gyroscope is characterized by comprising the following steps:
the method comprises the following steps: the rotary table carrying one or more MIMUs are rotated continuously for 30 seconds at speeds of +/-5 degrees/s and +/-10 degrees/s respectively, sampling data output by a gyroscope and an accelerometer in the MIMUs in a rotation state are stored and recorded in columns in a txt format,
the sampled data comprises X, Y, Z six columns of data output by three axial gyroscopes and accelerometers; an X-axis gyroscope, a Y-axis gyroscope, a Z-axis gyroscope, an X-axis adder, a Y-axis adder and a Z-axis adder; the sampling frequency of the sampling data is 400Hz, namely, a group of data is acquired in 0.0025 second on average, and each group of data is stored in a row mode;
step two: respectively averaging the corresponding columns of the sampled data and performing linear fitting, wherein the first term in the fitting formula and the known scale factor are in a preset range, and the columns of sensitive axis data, the nonlinearity of which is less than the set range, obtained by linear fitting are in the preset range;
step three: the fitting primary term obtained by fitting according to the second step is a gyroscope actual measurement scale factor in the MIMU, and the preset input angular velocity array is amplified or reduced according to the proportion of the gyroscope actual measurement scale factor and the known scale factor;
step four: respectively carrying out the processing of the second step and the processing of the third step on the sampling data of a plurality of MIMUs to obtain processed actual input angular velocity arrays with the number equal to that of gyroscopes of the MIMU, selecting the input angular velocity array with the minimum maximum input angular velocity in the actual input angular velocity arrays as a nonlinear degree calibration input angular velocity array, and recording the actual input angular velocity array of each MIMU according to the proportional relation obtained by each MIMU in the third step;
step five: performing gyroscope nonlinear degree calibration by using the nonlinear degree calibration input angular velocity array obtained in the fourth step, rotating the turntable according to the nonlinear degree calibration input angular velocity array and acquiring and recording angular velocity data, and performing linear fitting on the gyroscope in each MIMU according to the sensitive axis data of each MIMU obtained in the second step and the actual input angular velocity array in the fourth step to finish the nonlinear degree calibration of one axial gyroscope in each MIMU;
step six: and replacing the gyroscope axial direction of each MIMU, and repeating the second step to the fifth step to realize the non-linearity calibration of the other two axial gyroscopes of each MIMU.
The gyroscopes of the MIMUs can be calibrated simultaneously when being calibrated, the gyroscopes (such as X-axis gyroscopes) in the same axial direction in the MIMUs can be calibrated simultaneously, the gyroscopes (such as Y-axis gyroscopes and Z-axis gyroscopes) in other axial directions can be calibrated after one axial direction calibration is finished, or the gyroscopes in different axial directions in the MIMUs can be calibrated simultaneously (such as X-axis gyroscopes in one MIMU and Y-axis gyroscopes in the other MIMU), and the gyroscopes in the MIMUs are replaced axially after the axial direction calibration, so that the calibration of the other two axial gyroscopes in the MIMUs is realized.
In the second step, the preset range of the primary term in the fitting type and the known scale factor is that the difference value of the primary term and the known scale factor is less than 8% -15% of the known scale factor.
In the second step, the set range of the nonlinearity is within 5 times of the nonlinearity of the gyroscope.
The rotary table is a single-shaft rotary table or a three-shaft rotary table.
And for the single-shaft turntable, the axial direction of each MIMU gyroscope is replaced by adopting a mode of dismounting and mounting again.
And for the three-axis rotary table, the axial direction of each MIMU gyroscope is changed by rotating the inner frame or the middle frame by 90 degrees.
The invention has the advantages that:
(1) the system for MIMU gyroscope nonlinearity degree automatic calibration that this patent provided, the function is perfect, and the compatible gyroscope nonlinearity degree based on unipolar revolving stage and triaxial revolving stage is markd, sets for the full process automation of data processing from the input.
(2) The method for automatically calibrating the nonlinearity of the MIMU gyroscope is easy to realize, high in calibration precision and capable of realizing axial automatic identification and compensating for influences caused by installation errors.
Drawings
FIG. 1 is a system for MIMU gyroscope non-linearity auto-calibration;
fig. 2 is a flow chart of the MIMU gyroscope non-linearity automatic calibration.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, the system for automatic non-linearity calibration of MIMU gyroscope of the present invention comprises a data acquisition unit, a power supply, a single-axis turntable and a three-axis turntable, wherein the single-axis turntable is suitable for calibration of a large-scale MIMU gyroscope, and the three-axis turntable is suitable for calibration of a small-scale MIMU gyroscope. The system utilizes a data acquisition device to acquire two small rotating speed point data in positive and negative directions to identify the errors of the axial direction and the installation angle of the gyroscope; and the automation of the calibration process is realized by using a computer to collect data and program control of a power supply, the single-axis rotary table and the three-axis rotary table.
The system calibration flow control adopts a system scheme loading mode, and the system scheme can be changed to be used for the non-linearity calibration of the gyroscope based on the single-axis turntable and the three-axis turntable.
As shown in fig. 2, the method for automatic calibration of the non-linearity of the MIMU gyroscope specifically comprises the following steps:
the method comprises the following steps: installing a plurality of MIMUs on the table top of the rotary table through a tool, and electrifying the power supply and the rotary table;
step two: opening and operating calibration system software, loading a calibration scheme file, carrying out communication test on a power supply, the MIMU device and the turntable, and opening a program-controlled power supply to electrify and preheat the device for 1 minute;
step three: according to a calibration scheme file, a rotary table rotates for 30 seconds at +/-5 degrees/s and +/-10 degrees/s, a plurality of MIMU output data are recorded, a single MIMU is taken as an example, the recorded data comprise information of three gyroscopes, three summers and the like, and the file names are 5, N5, 10 and N10;
step four: respectively averaging corresponding columns of the data in the four files and performing linear fitting, wherein the columns of sensitive axis data are the first-order fitted items which are close to the known scale factor (the difference value is less than 10% of the known scale factor) and the non-linearity of which is less than the set range (5 times of the non-linearity of the gyroscope);
step five: the primary term obtained by fitting according to the fourth step is a gyroscope actual measurement scale factor, the input angular velocity array is amplified or reduced according to the proportion of the gyroscope actual measurement scale factor and the known scale factor, and meanwhile, the proportional relation also represents the comprehensive installation error;
step six: processing the MIMU data in the fourth step and the fifth step to obtain angular velocity input arrays with the number equal to that of the devices, selecting the maximum input angular velocity in the arrays as the nonlinear degree calibration angular velocity input array, and recording the actual input angular velocity array of each device according to the proportional relation of each device obtained in the fifth step;
step seven: performing gyroscope nonlinear degree calibration by using the nonlinear degree calibration angular velocity array obtained in the sixth step, rotating the turntable according to the angular velocity array, acquiring and recording data, and performing linear fitting on each device according to the sensitive axis of each MIMU obtained in the fourth step and the actual input angular velocity array obtained in the sixth step to finish the nonlinear degree calibration of one axial gyroscope of the MIMU;
step eight: and (3) replacing the gyroscope axially (the single-shaft rotary table needs to be detached and installed again, and the gyroscope can be replaced axially by rotating the inner frame or the middle frame of the three-shaft rotary table by 90 degrees), and repeating the second step to the seventh step to calibrate the non-linearity of the other two axial gyroscopes of the MIMU.
The system and the method provided by the patent realize automation of the calibration process, avoid errors caused by manual operation, and improve the calibration precision and the working efficiency.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method for automatic calibration of the nonlinearity of an MIMU gyroscope is characterized by comprising the following steps:
the method comprises the following steps: enabling a rotary table bearing one or more MIMUs to rotate continuously for 30 seconds at speeds of +/-5 degrees/s and +/-10 degrees/s, and storing and recording sampling data output by a gyroscope and an accelerometer in the MIMU in a txt format in a column mode;
step two: respectively averaging the corresponding columns of the sampled data and performing linear fitting, wherein the first term in the fitting formula and the known scale factor are in a preset range, and the columns of sensitive axis data, the nonlinearity of which is less than the set range, obtained by linear fitting are in the preset range;
step three: the fitting primary term obtained by fitting according to the second step is a gyroscope actual measurement scale factor in the MIMU, and the preset input angular velocity array is amplified or reduced according to the proportion of the gyroscope actual measurement scale factor and the known scale factor;
step four: respectively carrying out the processing of the second step and the processing of the third step on the sampling data of a plurality of MIMUs to obtain processed actual input angular velocity arrays with the number equal to that of gyroscopes of the MIMU, selecting the input angular velocity array with the minimum maximum input angular velocity in the actual input angular velocity arrays as a nonlinear degree calibration input angular velocity array, and recording the actual input angular velocity array of each MIMU according to the proportional relation obtained by each MIMU in the third step;
step five: performing gyroscope nonlinear degree calibration by using the nonlinear degree calibration input angular velocity array obtained in the fourth step, rotating the turntable according to the nonlinear degree calibration input angular velocity array and acquiring and recording angular velocity data, and performing linear fitting on the gyroscope in each MIMU according to the sensitive axis data of each MIMU obtained in the second step and the actual input angular velocity array in the fourth step to finish the nonlinear degree calibration of one axial gyroscope in each MIMU;
step six: and replacing the gyroscope axial direction of each MIMU, and repeating the second step to the fifth step to realize the non-linearity calibration of the other two axial gyroscopes of each MIMU.
2. The method of claim 1 wherein in step two, the predetermined range of the first order of the fit to the known scale factor is such that the difference between the first order and the known scale factor is less than 8% to 15% of the known scale factor.
3. The method of claim 1 wherein in step two, the non-linearity is set to within 5 times the non-linearity of the gyroscope.
4. The method of claim 1 wherein the turntable is a single axis turntable or a three axis turntable.
5. The method for the automatic calibration of the nonlinearity of the MIMU gyroscope of claim 4, wherein the MIMU gyroscope is replaced axially by re-disassembling and re-assembling for a single axis turntable.
6. The method for automatic non-linearity calibration of the MIMU gyroscope of claim 4, wherein for the three-axis turntable, the MIMU gyroscopes are axially replaced by rotating the inner frame or the middle frame by 90 degrees.
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| CN114485724A (en) * | 2021-03-02 | 2022-05-13 | 北京天兵科技有限公司 | Method for rapidly evaluating scale nonlinear error of MEMS gyroscope |
| CN114199280A (en) * | 2021-12-10 | 2022-03-18 | 中国兵器工业集团第二一四研究所苏州研发中心 | Batch calibration and error compensation system and method for micro-inertia measurement assembly |
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