CN111780787B - MEMS inertial measurement unit calibration method based on optical fiber inertia assistance - Google Patents

MEMS inertial measurement unit calibration method based on optical fiber inertia assistance Download PDF

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CN111780787B
CN111780787B CN202010863584.0A CN202010863584A CN111780787B CN 111780787 B CN111780787 B CN 111780787B CN 202010863584 A CN202010863584 A CN 202010863584A CN 111780787 B CN111780787 B CN 111780787B
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measurement unit
inertial measurement
optical fiber
gyroscope
mems inertial
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CN111780787A (en
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芦佳振
叶莉莉
郑钧璟
韩松来
桂明臻
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Central South University
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    • 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
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Abstract

The invention provides an MEMS inertial measurement unit calibration method based on optical fiber inertia assistance, which comprises the following steps: firstly, mounting an MEMS inertial unit and a marked optical fiber inertial unit; secondly, preheating the optical fiber inertial measurement unit and the MEMS inertial measurement unit to be stable; thirdly, acquiring data of the optical fiber inertial measurement unit and the MEMS inertial measurement unit according to a set path, and estimating device errors in the whole process; and fourthly, outputting the estimation result of the device error as a calibration result. The calibration method has the following effects: the invention adopts the combination of the optical fiber inertial measurement unit and the MEMS inertial measurement unit, can complete the one-time calibration of the whole parameters of the MEMS inertial measurement unit, and makes up the defects of the prior calibration method in the aspects of calibration precision and feasibility of the MEMS inertial measurement unit without a turntable; the invention utilizes the low-cost optical fiber inertial navigation system to replace a high-precision turntable, does not need other auxiliary devices, does not need accurate manual rotation, has more flexible operation, and can greatly reduce the cost on the premise of meeting the calibration requirement.

Description

MEMS inertial measurement unit calibration method based on optical fiber inertia assistance
Technical Field
The invention relates to the technical field of aerospace and aviation, in particular to a MEMS inertial measurement unit calibration method based on optical fiber inertia assistance.
Background
The optical fiber inertial navigation system is widely applied to navigation, guidance and control systems for military, civil and the like due to the characteristics of small volume, low cost, simple structure and autonomous navigation. The micro-electro-mechanical system (MEMS) sensor has the characteristics of small chip volume, light weight, low power consumption and high reliability, and the MEMS inertial system plays an important role in the navigation application fields of mobile phones, watches, unmanned aerial vehicles, weapons and the like by providing information of postures, speeds and positions.
The inertial measurement unit calibration is a necessary step before navigation application, and the calibration effect directly influences the use precision of the system.
In the traditional MEMS calibration method, a high-precision turntable is often used for calibration, the method is high in precision, all errors of the system can be solved, but the method is high in required cost and is not suitable for use conditions of general users. The MEMS calibration under the condition without the turntable is usually manually operated by an additional auxiliary device, the requirement on the precision of manual rotation is higher, and the calibration reliability is not high.
Other calibration methods exist in the prior art, as follows:
the invention patent with application number 201810181130.8 discloses a static error calibration system and method, wherein the calibration system comprises: the device comprises a three-axis acceleration sensor, an auxiliary device and a horizontal table top; firstly, placing a triaxial acceleration sensor on a horizontal table top to obtain six positions; then, placing the three-axis acceleration sensor on an auxiliary device, and placing the auxiliary device on a horizontal table top to obtain three positions; the method comprises the steps of obtaining multiple groups of measurement data of the triaxial acceleration sensor at 9 positions in different postures, and achieving omnibearing calibration of static errors of the triaxial acceleration sensor according to the 9 groups of different measurement data. The method can only estimate 9 error items of the accelerometer, cannot calibrate the error items of the gyroscope, and does not have the capability of estimating the full parameters of the system. In addition, the operation method has higher requirement on manual rotation precision, and the completeness, calibration precision, reliability and the like of calibration parameters are all required to be improved.
The invention application with application number 201811362982.3 discloses an MEMS gyroscope combination calibration method, which belongs to a gyroscope calibration compensation technology, and comprises the steps of calibrating a scale coefficient error and a non-orthogonal error, adopting clockwise and anticlockwise rotation to counteract earth rotation and gyroscope zero offset, estimating the zero offset of a gyroscope, determining the output of an MEMS gyroscope at two different static positions, establishing a model, and calculating a gyroscope constant zero position by adopting least square fitting. The test method provides a device-level calibration method for the MEMS gyroscope, is only suitable for estimating the error term of the gyroscope, and has higher requirement on manual rotation precision and needs to be improved in the aspects of completeness, calibration precision, reliability and the like of calibration parameters.
In summary, the MEMS inertial set calibration method which has high precision and full parameter estimation capability, is provided without a turntable and has low requirement on manual rotation precision has important significance.
Disclosure of Invention
The invention aims to provide an MEMS inertial measurement unit calibration method based on optical fiber inertia assistance, which does not need a turntable, has low requirement on manual operation precision and can meet the full-parameter calibration requirement, and the specific technical scheme is as follows:
an MEMS inertial measurement unit calibration method based on optical fiber inertia assistance comprises the following steps: firstly, mounting an MEMS inertial unit and a calibrated optical fiber inertial unit; secondly, preheating the optical fiber inertial measurement unit and the MEMS inertial measurement unit to be stable; thirdly, acquiring data of the optical fiber inertial measurement unit and the MEMS inertial measurement unit according to a set path, and estimating device errors in the whole process; and fourthly, outputting the estimation result of the device error as a calibration result.
Preferably, in the above technical solution, the first step specifically is: and the optical fiber inertial measurement unit and the MEMS inertial measurement unit are installed together through a tool, locked, connected with cables among the optical fiber inertial measurement unit, the MEMS inertial measurement unit, a power supply and a collection computer and checked to be correct.
Preferably, in the above technical solution, the fiber inertial measurement unit includes three sets of gyroscopes and three sets of accelerometers; the gyroscopes and the accelerometers are arranged in one-to-one correspondence; the three groups of gyroscopes are arranged in the direction xb1、yb1And zb1Forming an optical fiber inertial measurement unit coordinate system; the MEMS inertial unit comprises three groups of gyroscopes and three groups of accelerometers, the gyroscopes and the accelerometers are arranged in one-to-one correspondence, and the mounting directions of the three groups of gyroscopes are xb2、yb2And zb2Forming an MEMS inertial measurement unit coordinate system; the optical fiber inertial measurement unit and the MEMS inertial measurement unit are arranged in parallel, and the relative installation angle is not more than 3 degrees.
Preferably, in the above technical solution, the path set in the third step is: firstly rotating the X axis by-180 degrees, then rotating the Y axis by-90 degrees, and finally rotating the Z axis by-90 degrees; the rest time of each index is 2-10min, and the rotation process between two indexes takes 5-15 s.
Preferably, in the above technical solution, the third step estimates the device error by using a least square method in the whole process, specifically: using expression 13) and expression 14) to estimate the accelerometer and gyroscope, respectively:
X1＝(H1 TH1)-1H1 Tz1 13)；
X2＝(H2 TH2)-1H2 Tz2 14)；
wherein: x1Is the state vector of the accelerometer; z is a radical of1An observation model for an accelerometer; h1Is an observation matrix of accelerometers, H1 TIs H1The transposed matrix of (2); x2Is the state vector of the gyroscope, z2An observation model of a gyroscope; h2Is the observation matrix of the gyroscope, H2 TIs H2The transposed matrix of (2).
Preferably, in the above technical solution, the state vector X of the accelerometer1Is expression 4):
X1＝[acBx acBy acBz acSFx acSFy acSFz acMAx acMAy acMAz μx μy μz]T 4)；
acBx、acByand acBzAre respectively an accelerometer xb2、yb2And zb2Zero offset of the axis; acSFx、acSFyAnd acSFzAre respectively an accelerometer xb2、yb2And zb2Scale of the shaft; acMAxIs an accelerometer xb2Relative zb2Misalignment angle of the axis, acMAyFor an accelerometer yb2Relative to xb2Misalignment angle of the axis, acMAzIs an accelerometer zb2Relative to yb2The misalignment angle of the shaft; mu.sx、μyAnd muzRespectively is a relative installation angle between the optical fiber inertial measurement unit and the MEMS inertial measurement unit;
observation model z of the accelerometer1Is expression 5):
Figure GDA0002859908300000031
Figure GDA0002859908300000032
the measured value of the acceleration of the optical fiber inertial measurement unit is obtained;
Figure GDA0002859908300000033
and
Figure GDA0002859908300000034
is composed of
Figure GDA0002859908300000035
Respectively in three directions x of the optical fiber inertial measurement unit coordinate systemb1、yb1And zb1An acceleration component of the shaft; f. ofb2An acceleration true value of the MEMS inertial unit is obtained; f. ofb2x、fb2yAnd fb2zIs fb2Respectively in three directions x of the MEMS inertial measurement unit coordinate systemb2、yb2And zb2An acceleration component of the shaft;
Figure GDA0002859908300000036
acceleration measurement values of the MEMS inertial set;
observation matrix H of the accelerometer1Is expression 6):
Figure GDA0002859908300000041
preferably, in the above technical solution, the state vector X of the gyroscope2Is expression 10):
Figure GDA0002859908300000042
gyBx、gyByand gyBzAre respectively gyroscopes xb2、yb2And zb2Zero offset of the axis; gySFx、gySFyAnd gySFzAre respectively gyroscopes xb2、yb2And zb2Scale of the shaft; gyMAxyRepresentative of gyroscopes xb2Relative to yb2Misalignment angle of the axis, gyMAxzRepresentative of gyroscopes xb2Relative zb2Misalignment angle of the axis, gyMAyxRepresenting a gyroscope yb2Relative to xb2Misalignment angle of the axis, gyMAyzRepresenting a gyroscope yb2Relative zb2Misalignment angle of the axis, gyMAzxRepresenting a gyroscope zb2Relative to xb2Misalignment angle of the axis, gyMAzyRepresenting a gyroscope zb2Relative to yb2The misalignment angle of the shaft;
observation model z of the gyroscope2Is expression 11):
Figure GDA0002859908300000051
Figure GDA0002859908300000052
the measured value of a gyroscope in the optical fiber inertial measurement unit is obtained;
Figure GDA0002859908300000053
is composed of
Figure GDA0002859908300000054
Are each at xb1、yb1And zb1An angular velocity component of the shaft; omegab2A gyroscope true value of the MEMS inertial unit; omegab2x、ωb2yAnd ωb2zIs omegab2Are each at xb2、yb2And zb2An angular velocity component of the shaft;
Figure GDA0002859908300000055
gyroscope measurements for the MEMS inertial measurement unit;
observation matrix H of the gyroscope2Is expression 12):
Figure GDA0002859908300000056
the technical scheme of the invention has the following beneficial effects:
1. the invention adopts the combination of the optical fiber inertial measurement unit and the MEMS inertial measurement unit, can complete the one-time calibration of the whole parameters of the MEMS inertial measurement unit, and makes up the defects of the prior calibration method in the aspects of calibration precision and feasibility of the MEMS inertial measurement unit without a turntable.
2. The MEMS inertial measurement unit is calibrated without using a rotary table, a high-precision rotary table is replaced by a low-cost optical fiber inertial navigation system, other auxiliary devices (such as a theodolite and the like) are not needed, the requirement on manual rotation precision is not high, the operation is more flexible, and the calibration cost can be greatly reduced on the premise of meeting the calibration requirement.
3. On the basis of the combination of the optical fiber inertial measurement unit and the MEMS inertial measurement unit, the optimal calibration path (firstly rotating the X axis to minus 180 degrees, then rotating the Y axis to minus 90 degrees, and finally rotating the Z axis to minus 90 degrees) is adopted, and the shortest path is adopted, so that the one-time calibration of all parameters of the MEMS inertial measurement unit can be realized, the calibration time is greatly saved, and the practicability is high.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram illustrating an installation relationship between a fiber inertial set and a MEMS inertial set in an embodiment.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example (b):
an MEMS inertial measurement unit calibration method based on optical fiber inertia assistance comprises the following steps: the method comprises the following steps of firstly, installing an optical fiber inertial measurement unit and an MEMS inertial measurement unit, specifically: the MEMS inertial measurement unit and the calibrated optical fiber inertial measurement unit are installed together through a tool, locked, connected with cables among the optical fiber inertial measurement unit, the MEMS inertial measurement unit, a power supply and a collection computer and checked to be correct; secondly, preheating the optical fiber inertial measurement unit and the MEMS inertial measurement unit to be stable; thirdly, opening data acquisition software on an acquisition computer, acquiring data of the optical fiber inertial measurement unit and the MEMS inertial measurement unit according to a set path, and estimating device errors in the whole process; fourthly, outputting an estimation result of the device error as a calibration result; the inertial measurement unit is powered off, and the system is powered off.
The details are as follows:
referring to fig. 1, the optical fiber inertial measurement unit includes three sets of gyroscopes and three sets of accelerometers, the gyroscopes and the accelerometers are arranged in a one-to-one correspondence manner, and the installation direction of the three sets of gyroscopes is xb1、yb1And zb1Forming an optical fiber inertial measurement unit coordinate system; the MEMS inertial unit comprises three groups of gyroscopes and three groups of accelerometers, the gyroscopes and the accelerometers are arranged in one-to-one correspondence, and the mounting directions of the three groups of gyroscopes are xb2、yb2And zb2And forming a MEMS inertial set coordinate system. The optical fiber inertial measurement unit and the MEMS inertial measurement unit are arranged in parallel, and the relative installation angle does not exceed 3 degrees and mux、μyAnd muzThe relative installation angles of the optical fiber inertial measurement unit and the MEMS inertial measurement unit are respectively.
For an accelerometer:
zero bias for the accelerometer of the MEMS inertial set is expression 1):
acB＝[acBx,acBy,acBz]T 1)；
wherein: acBx、acByAnd acBzRespectively representing an accelerometer xb2、yb2And zb2Zero offset of the axes.
The scale of the accelerometer of the MEMS inertial set is expression 2):
acSF＝diag[acSFx acSFy acSFz] 2)；
wherein: acSFx、acSFyAnd acSFzRespectively representing an accelerometer xb2、yb2And zb2Scale of the shaft; diag denotes a diagonal matrix.
The misalignment angle of the accelerometer of the MEMS inertance is expression 3):
Figure GDA0002859908300000071
wherein: acMAxRepresentative of an accelerometer xb2Relative zb2Misalignment angle of the axis, acMAyRepresenting an accelerometer yb2Relative to xb2Misalignment angle of the axis, acMAzRepresenting an accelerometer zb2Relative to yb2The misalignment angle of the shaft.
State vector X of accelerometer1Is expression 4):
X1＝[acBx acBy acBz acSFx acSFy acSFz acMAx acMAy acMAz μx μy μz]T 4)；
taking the acceleration measurement value of the optical fiber inertial measurement unit as
Figure GDA0002859908300000072
Acceleration measurement of MEMS inertial measurement unit
Figure GDA0002859908300000073
Acceleration true value f of MEMS inertial unitb2Observation model z of said accelerometer1Is expression 5):
Figure GDA0002859908300000074
wherein:
Figure GDA0002859908300000075
and
Figure GDA0002859908300000076
is composed of
Figure GDA0002859908300000077
Respectively in three directions x of the optical fiber inertial measurement unit coordinate systemb1、yb1And zb1An acceleration component of the shaft; f. ofb2x、fb2yAnd fb2zIs fb2Respectively in three directions x of the MEMS inertial measurement unit coordinate systemb2、yb2And zb2An acceleration component of the shaft;
observation matrix H of the accelerometer1Is expression 6):
Figure GDA0002859908300000081
for the gyroscope:
zero bias for the gyroscope of the MEMS inertial set is expression 7):
gyB＝[gyBx,gyBy,gyBz]T 7)；
wherein: gyBx～gyBzRespectively representing a gyroscope xb2、yb2And zb2Zero offset of the axes.
The scale of the gyroscope of the MEMS inertial set is expression 8):
gySF＝diag[gySFx gySFy gySFz] 8)；
wherein: gySFx～gySFzRespectively representing a gyroscope xb2、yb2And zb2Scale of the axis.
The misalignment angle of the gyroscope of the MEMS inertial group is expression 9):
Figure GDA0002859908300000082
wherein: gyMAxyRepresentative of gyroscopes xb2Relative to yb2Misalignment angle of the axis, gyMAxzRepresentative of gyroscopes xb2Relative zb2Misalignment angle of the axis, gyMAyxRepresenting a gyroscope yb2Relative to xb2Misalignment angle of the axis, gyMAyzRepresenting a gyroscope yb2Relative zb2Misalignment angle of the axis, gyMAzxRepresenting a gyroscope zb2Relative to xb2Misalignment angle of the axis, gyMAzyRepresenting a gyroscope zb2Relative to yb2The misalignment angle of the shaft.
State vector X of the gyroscope2Is expression 10):
Figure GDA0002859908300000091
taking the measured value of the gyroscope of the fiber inertial measurement unit as
Figure GDA0002859908300000092
Gyroscope measurements for MEMS inertial measurement units
Figure GDA0002859908300000093
The gyroscope true value of the MEMS inertial measurement unit is omegab2Observation model z of the gyroscope2Is expression 11):
Figure GDA0002859908300000094
Figure GDA0002859908300000095
is composed of
Figure GDA0002859908300000096
Are each at xb1、yb1And zb1An angular velocity component of the shaft; omegab2x～ωb2zIs omegab2Are each at xb1、yb1And zb1An angular velocity component of the shaft;
observation matrix H of the gyroscope2Is expression 12):
Figure GDA0002859908300000101
the third step sets a path as follows: the X-axis is rotated-180 °, the Y-axis is rotated-90 °, and the Z-axis is rotated-90 ° as detailed in table 1:
TABLE 1 calibration paths
Figure GDA0002859908300000102
In the calibration process: the rest time for each index is 2-10min (preferably 5min), and the rotation process between two indexes takes 5-15s (preferably 10 s).
The method adopts a least square method overall process to estimate the device error in the calibration process, and specifically comprises the following steps:
using expression 13) and expression 14) to estimate the accelerometer and gyroscope, respectively:
X1＝(H1 TH1)-1H1 Tz1 13)；
X2＝(H2 TH2)-1H2 Tz2 14)；
wherein: h1 TIs H1The transposed matrix of (2); h2 TIs H2The transposed matrix of (2).
By applying the technical scheme of the embodiment, the specific simulation results are shown in tables 2 and 3:
TABLE 2 comparison of theoretical values and estimated values of calibration parameters of accelerometer
Figure GDA0002859908300000103
TABLE 3 comparison of theoretical values and estimated values of gyro calibration parameters
Figure GDA0002859908300000111
As can be seen from tables 2 and 3, the combination of the optical fiber inertial measurement unit and the MEMS inertial measurement unit is adopted, the low-cost optical fiber inertial navigation system is used for replacing a high-precision turntable, other auxiliary devices (such as a theodolite and the like) are not needed, accurate manual rotation is not needed, the operation is more flexible, the one-time calibration of all parameters of the MEMS inertial measurement unit can be completed, and the parameter calibration precision meets the use requirement of the high-performance MEMS inertial measurement unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. An MEMS inertial measurement unit calibration method based on optical fiber inertia assistance is characterized by comprising the following steps:
the method comprises the following steps of firstly, installing an MEMS inertial measurement unit and a calibrated optical fiber inertial measurement unit, specifically: the MEMS inertial unit and the marked optical fiber inertial unit are installed together through a tool, locked, connected with cables among the optical fiber inertial unit, the MEMS inertial unit, a power supply and a collection computer and checked to be correct; the above-mentionedThe fiber inertial measurement unit comprises three groups of gyroscopes and three groups of accelerometers; the gyroscopes and the accelerometers are arranged in one-to-one correspondence; the three groups of gyroscopes are arranged in the direction xb1、yb1And zb1Forming an optical fiber inertial measurement unit coordinate system; the MEMS inertial unit comprises three groups of gyroscopes and three groups of accelerometers, the gyroscopes and the accelerometers are arranged in one-to-one correspondence, and the mounting directions of the three groups of gyroscopes are xb2、yb2And zb2Forming an MEMS inertial measurement unit coordinate system; the optical fiber inertial measurement unit and the MEMS inertial measurement unit are installed in parallel, and the relative installation angle does not exceed 3 degrees;
secondly, preheating the optical fiber inertial measurement unit and the MEMS inertial measurement unit to be stable;
thirdly, acquiring data of the optical fiber inertial measurement unit and the MEMS inertial measurement unit according to a set path, and estimating device errors in the whole process; the set path is: firstly rotating the X axis by-180 degrees, then rotating the Y axis by-90 degrees, and finally rotating the Z axis by-90 degrees; the rest time of each transposition is 2-10min, and the time of the rotation process between two transposition is 5-15 s;
estimating the device error by adopting a least square method overall process, specifically:
using expression 13) and expression 14) to estimate the accelerometer and gyroscope, respectively:
X1＝(H1 TH1)-1H1 Tz1 13)；
X2＝(H2 TH2)-1H2 Tz2 14)；
wherein: x1Is the state vector of the accelerometer; z is a radical of1An observation model for an accelerometer; h1Is an observation matrix of accelerometers, H1 TIs H1The transposed matrix of (2); x2Is the state vector of the gyroscope, z2An observation model of a gyroscope; h2Is the observation matrix of the gyroscope, H2 TIs H2The transposed matrix of (2);
the state vector X of the accelerometer1Is expression 4):
X1＝[acBx acBy acBz acSFx acSFy acSFz acMAx acMAy acMAz μx μy μz]T 4)；
acBx、acByand acBzAre respectively an accelerometer xb2、yb2And zb2Zero offset of the axis; acSFx、acSFyAnd acSFzAre respectively an accelerometer xb2、yb2And zb2Scale of the shaft; acMAxIs an accelerometer xb2Relative zb2Misalignment angle of the axis, acMAyFor an accelerometer yb2Relative to xb2Misalignment angle of the axis, acMAzIs an accelerometer zb2Relative to yb2The misalignment angle of the shaft; mu.sx、μyAnd muzRespectively is a relative installation angle between the optical fiber inertial measurement unit and the MEMS inertial measurement unit;
observation model z of the accelerometer1Is expression 5):
Figure FDA0002859908290000021
Figure FDA0002859908290000022
the measured value of the acceleration of the optical fiber inertial measurement unit is obtained;
Figure FDA0002859908290000023
and
Figure FDA0002859908290000024
is composed of
Figure FDA0002859908290000025
Respectively in three directions x of the optical fiber inertial measurement unit coordinate systemb1、yb1And zb1An acceleration component of the shaft; f. ofb2An acceleration true value of the MEMS inertial unit is obtained; f. ofb2x、fb2yAnd fb2zIs fb2Respectively in the MEMS inertial set coordinate systemThree directions xb2、yb2And zb2An acceleration component of the shaft;
Figure FDA0002859908290000026
acceleration measurement values of the MEMS inertial set;
observation matrix H of the accelerometer1Is expression 6):
Figure FDA0002859908290000027
state vector X of the gyroscope2Is expression 10):
Figure FDA0002859908290000031
gyBx、gyByand gyBzAre respectively gyroscopes xb2、yb2And zb2Zero offset of the axis; gySFx、gySFyAnd gySFzAre respectively gyroscopes xb2、yb2And zb2Scale of the shaft; gyMAxyRepresentative of gyroscopes xb2Relative to yb2Misalignment angle of the axis, gyMAxzRepresentative of gyroscopes xb2Relative zb2Misalignment angle of the axis, gyMAyxRepresenting a gyroscope yb2Relative to xb2Misalignment angle of the axis, gyMAyzRepresenting a gyroscope yb2Relative zb2Misalignment angle of the axis, gyMAzxRepresenting a gyroscope zb2Relative to xb2Misalignment angle of the axis, gyMAzyRepresenting a gyroscope zb2Relative to yb2The misalignment angle of the shaft; mu.sx、μyAnd muzRespectively is a relative installation angle between the optical fiber inertial measurement unit and the MEMS inertial measurement unit;
observation model z of the gyroscope2Is expression 11):
Figure FDA0002859908290000032
Figure FDA0002859908290000041
the measured value of a gyroscope in the optical fiber inertial measurement unit is obtained;
Figure FDA0002859908290000042
is composed of
Figure FDA0002859908290000043
Are each at xb1、yb1And zb1An angular velocity component of the shaft; omegab2Is a gyroscope true value of the MEMS; omegab2x、ωb2yAnd ωb2zIs omegab2Are each at xb2、yb2And zb2An angular velocity component of the shaft;
Figure FDA0002859908290000044
gyroscope measurements for the MEMS inertial measurement unit;
observation matrix H of the gyroscope2Is expression 12):
Figure FDA0002859908290000045
and fourthly, outputting the estimation result of the device error as a calibration result.
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