CN114459502A - Inertial measurement unit calibration method based on Stewart platform - Google Patents
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Abstract
The invention discloses an inertial measurement unit calibration method based on a Stewart platform, which comprises the steps of fastening an inertial measurement unit consisting of a triaxial acceleration sensor and a triaxial angle sensor to the center position of a dynamic plane of the Stewart platform; linear vibration with different frequencies and amplitudes is generated along X, Y and Z directions by controlling a Stewart platform respectively, and excitation acceleration is provided for the triaxial acceleration sensor; and the Stewart platform is controlled to generate angular vibration with different frequencies and amplitudes around X, Y and Z directions respectively, so that an excitation angle is provided for the triaxial angle sensor. Acquiring an output signal of the inertia measurement unit by using data acquisition equipment, and processing the signal; and the calibration of the inertia measurement unit based on the Stewart platform is realized by combining the excitation signal measured by a machine vision method and the output signal processing result acquired by the data acquisition equipment. Compared with the existing method, the method can finish calibration without repeatedly installing the inertia measurement unit for many times, and has the advantages of flexibility, simplicity, high efficiency and the like.
Description
Technical Field
The invention belongs to the field of vibration measurement and testing, and particularly relates to a calibration method of an inertial measurement unit based on platform motion.
Background
The Stewart platform has the advantages of large rigidity, no accumulated position error, capability of generating various high-precision compound motions and the like, and has wide application in the industries of aviation, aerospace, deep sea exploration and the like. The inertial measurement unit is a device for measuring the position and the posture of a moving object, and the inertial measurement unit is mainly internally composed of three single-axial acceleration sensors and three axial angle sensors. The inertial measurement unit is a core device of an inertial navigation system, is widely applied to military fields such as aerospace and the like and civil fields such as unmanned technology, smart phones and the like, and the performance of the inertial measurement unit directly determines the navigation precision. The calibration of the traditional acceleration sensor and the traditional angle sensor is carried out through a standard linear vibration table and a standard rotary table, and the multi-axis sensor needs to be manually and repeatedly installed for many times, so that installation errors are introduced.
Disclosure of Invention
Aiming at the defects of poor flexibility, more interference of human factors and the like of the traditional calibration method of the inertial measurement unit, the invention provides an efficient and flexible calibration method of the inertial measurement unit based on a Stewart platform without repeated installation, which comprises the following steps:
firstly, a follow-up coordinate system is established based on the center of a dynamic plane of the Stewart platform, an inertia measurement unit is fastened at the center position of the dynamic plane of the Stewart platform, and the direction of a sensitive shaft of a sensor is ensured to be consistent with the movement direction of the dynamic plane. And (3) controlling the Stewart platform to enable the motion plane to generate spatial vibration with different frequencies and amplitudes along X, Y and Z axes and a pitch axis, a roll axis and a yaw axis respectively, and providing excitation for a triaxial acceleration sensor and an angle sensor in the inertial measurement unit. A target for visual measurement is fixed on a Stewart platform, the target is a cubic block, each surface of the cubic block is a pattern formed by two circles enveloping one rectangle, and the target, an inertial measurement unit and a motion plane have consistent motion characteristics. Visual method for black rectangle in targetAnd measuring the change of the edge position, and processing the acquired measurement data by using a sine approximation method to obtain the excitation acceleration and the angle of the inertial measurement unit. The test frequency points are selected according to 1/3 octaves, and the excitation acceleration and the angle amplitude are determined by referring to a crossing curve of a Stewart platform. And similarly, processing the acquired axial output signals of the inertia measurement unit by using a sine approximation method to obtain the fitting peak value of the output signals. And calculating the sensitivity of the inertial measurement unit by using the excitation acceleration and angle peak values of the inertial measurement unit measured by a machine vision method and the output signal peak values in each axial direction, and finishing the calibration of the inertial measurement unit. For the triaxial acceleration sensor, the fitted acceleration amplitude obtained in the step S2 is applied
And
and the output voltage peak value V of the triaxial acceleration sensor corresponding to the axial direction obtained in the step S3X、VYAnd VZThe sensitivity amplitude value of the sensor is calibrated by using the following formula, and the sensitivity amplitude value S of the triaxial acceleration sensor of the inertia measurement unit can be calculatedX、SY、SZComprises the following steps:
for calibration of the triaxial angle sensor, the fitted angle amplitude obtained in step S2
And
and the output angle value of the triaxial angle sensor obtained in the step S3 corresponding to the axial directionθX、θYAnd thetaZObtaining the sensitivity S of the triaxial angle sensor by using the following formulaP,θ、SQ,θAnd SR,θ：
The inertial measurement unit calibration method based on the Stewart platform has the following advantages:
(1) the method is reliable, stable and portable, and is suitable for calibrating the sensitivity amplitude of the multi-axial vibration sensor.
(2) The method can calibrate the triaxial acceleration sensors, triaxial angle sensors and inertial measurement units with different types and sizes.
(3) The method can realize the calibration of the sensitivity amplitude of different types of triaxial acceleration sensors, triaxial angle sensors and inertial measurement units in a wider low-frequency range.
(4) The method has simple and efficient calibration process, can finish the calibration of the sensitivity amplitude of the multi-axial vibration sensor by one-time installation, avoids the calibration uncertainty caused by repeated installation, and greatly improves the calibration efficiency.
Drawings
FIG. 1 is a schematic diagram of an apparatus according to an embodiment of the method of the present invention.
FIG. 2 is a flow chart of an inertial measurement unit calibration method based on a Stewart platform.
FIG. 3 is a flow chart of a three-axial acceleration sensor calibration method based on a Stewart platform.
FIG. 4 is a flow chart of a three-axis angle sensor calibration method based on a Stewart platform.
Detailed Description
The problem that multiple manual operations and repeated installation are needed for calibrating the multi-axial sensor is solved. Aiming at the defects of poor flexibility, more interference of human factors and the like of a calibration method of a traditional inertial measurement unit, the invention provides a Stewart platform-based efficient and flexible calibration method of the inertial measurement unit without repeated installation for many times, and the invention is described in detail by combining the attached drawings and specific implementation examples.
Referring to fig. 1, a schematic diagram of an apparatus for implementing the method of the present invention mainly comprises: the device comprises a Stewart platform (1), a motion plane (2), an inertia measurement unit (3), a data acquisition device (4), a Stewart platform motion control device (5), a target (6), a camera (7) and a data processing and displaying unit (8).
The motion plane (2) of the Stewart platform (1) provides the motion of the track in the space; the inertia measurement unit (3) and the target (7) are fastened on the motion plane (2) and have consistent motion characteristics; the cameras (7) are erected in three different directions of the table top and used for measuring the pose of the target (6); the data acquisition equipment (4) is used for acquiring the output data of the inertia measurement unit (3); the Stewart platform motion control device (5) is used for controlling the Stewart platform (1) to generate corresponding spatial trajectory motion according to input parameters; the data processing and displaying unit (8) is used for processing the data acquired by the data acquisition equipment (4) and the data acquired by the three cameras (7), storing and displaying the spatial motion parameters of the motion plane (2) and the values of the output parameters of the inertial measurement unit, and outputting the calibration results of the inertial measurement unit.
Fig. 2 is a flowchart of an inertial measurement unit calibration method based on a Stewart platform. The calibration method mainly comprises the following steps:
step S1, an inertial measurement unit consisting of a triaxial acceleration sensor and a triaxial angle sensor is fastened at the center of a motion plane of the Stewart platform, and the Stewart platform is controlled to generate a motion track with six spatial degrees of freedom to provide excitation for the inertial measurement unit;
step S2, measuring the excitation acceleration and angle provided by the Stewart platform for the inertial measurement unit by using a machine vision method consisting of three cameras and a target;
step S3, acquiring output signals of the inertia measurement units under different space motion tracks by adopting data acquisition equipment, and processing the signals;
and step S4, combining the excitation acceleration and the angle of the inertia measurement unit under different space motion tracks measured by the machine vision method and the output signal processing result of the inertia measurement unit to carry out sensitivity calculation, and storing and displaying the calibration result of the inertia measurement unit.
Referring to fig. 3, a flow chart of a method for calibrating a triaxial acceleration sensor in an inertial measurement unit based on a Stewart platform is shown. The calibration method comprises the following steps:
step S11: a follow-up coordinate system is established based on the center of a motion plane of the Stewart platform, the inertial measurement unit is fastened at the center position of the motion plane of the Stewart platform, and the direction of a sensitive shaft of the triaxial acceleration sensor is consistent with the motion direction of the motion plane. Then, by controlling the motion of each telescopic rod of the Stewart platform, the motion plane generates spatial linear vibration with different frequencies and amplitudes along X, Y and Z directions respectively, so as to provide excitation for a triaxial acceleration sensor of the inertial measurement unit.
Step S12: and measuring the space linear vibration track of the Stewart platform along X, Y and Z directions by using a machine vision method to obtain the excitation acceleration value of the triaxial acceleration sensor of the inertial measurement unit.
Step S13: acquiring output signals of triaxial acceleration sensors in an inertia measurement unit under different spatial motion tracks by using data acquisition equipment, and processing the acquired output signals of all axial directions of the triaxial acceleration sensors by using a sine approximation method to obtain a fitting peak value of the output signals;
step S14: carrying out sine approximation fitting on the excitation acceleration measured by the machine vision method and the corresponding sampling time:
wherein a isX、aYAnd aZThe excitation acceleration values of the triaxial acceleration sensor in X, Y and Z directions are obtained by a visual measurement method. t is tjIs the sampling time of the j-th frame image, wherein the subscript j is 1, 2, …, N, N is the sampling timeNumber of sets of images;
step S15: to solve the parameter AX、BX、CXAnd DXFor example, solving the first term of equation (7) based on the principle of least squares is represented by N aX(tj) And corresponds to tjThe formed overdetermined equation set can obtain AX、BX、CXAnd DXThe value of (c). Similarly, the solution yields the remaining parameters. Obtaining the excitation acceleration amplitude value through the obtained fitting coefficient
And
as shown in the following formula:
step S16: excitation acceleration amplitude using the fit obtained in the steps S14 and S15
And
and the fitting peak value V of each axial output signal in the triaxial acceleration sensor obtained in the step S13X、VYAnd VZAnd calibrating the sensitivity amplitude of the sensor by using the following formula to obtain the sensitivity amplitude S of the triaxial acceleration sensorX、SY、SZ：
Referring to fig. 3, a flow chart of a method for calibrating a triaxial angle sensor in an inertial measurement unit based on a Stewart platform is shown. The calibration method comprises the following steps:
step S21: and establishing a follow-up coordinate system based on the center of the movable platform, and fixing the inertia measurement unit at the center of the movable platform according to the axial direction of the inertia measurement unit. Then, by controlling the motion of each telescopic rod of the Stewart platform, the Stewart movable platform generates spatial angle vibration tracks with different frequencies and different angles along a pitching shaft, a rolling shaft and a yawing shaft so as to excite a triaxial angle sensor in an inertial measurement unit;
step S22: measuring space angle vibration tracks of a pitching shaft, a rolling shaft and a yawing shaft of the triaxial angle sensor generated by the Stewart movable platform by using a visual method to obtain an angle amplitude of the Stewart movable platform;
step S23: acquiring output signals of triaxial angle sensors in an inertia measurement unit under different spatial motion tracks by using data acquisition equipment, and processing the acquired output signals of all axial directions of the triaxial angle sensors by using a sine approximation method to obtain a fitting peak value of the output signals;
step S24: carrying out sine approximation fitting on the excitation angle measured by the machine vision method and the corresponding sampling time:
wherein, thetaP、θQAnd thetaRThe excitation angle values of the pitch axis, the roll axis and the yaw axis in the triaxial angle sensor are obtained by a vision measurement method. t is tjThe sampling time of the jth frame image is shown, wherein the subscript j is 1, 2, …, N is the number of acquired images;
step S25: to solve the parameter AP、BP、CPAnd DPFor example, solving the first term of the form of equation (10) based on the principle of least squares is performed by N numbers of thetaP(tj) And corresponds to tjThe formed overdetermined equation set can obtain AP、BP、CPAnd DPThe value of (c). Similarly, the solution yields the remaining parameters. Obtaining the three-axial angle amplitude value through the obtained fitting coefficient
And
as shown in the following formula:
step S26: for calibration of the triaxial angle sensor, the fitted triaxial angle magnitudes obtained in steps S24 and S25
And
and fitting peak value theta of each axial output signal of the triaxial angle sensor obtained in the step S23X、θYAnd thetaZObtaining the sensitivity S of the triaxial angle sensor by using the following formulaP,θ、SQ,θAnd SR,θ：
Limited by the existing equipment, the device of the embodiment adopts an industrial camera to shoot various spatial motion tracks generated by the Stewart platform through multiple moving positions; an inertial measurement unit is formed by using a triaxial acceleration sensor and a biaxial inclination angle sensor, and a Stewart platform with the frequency range of DC-5Hz and the maximum peak-peak displacement of 200mm is used.
In order to verify the accuracy of the inertial measurement unit calibration method based on the Stewart platform, the results of the triaxial acceleration sensor calibrated by the method and a standard linear vibration table based on machine vision measurement are compared, and are shown in Table 1.
TABLE 1 comparison with calibration results for linear vibration table acceleration sensor based on machine vision
The calibration results of the sensitivity of the two axes of the two-axis tilt sensor obtained by the method are shown in table 2:
TABLE 2 sensitivity data of two-axis tilt sensor calibrated by applying the method
The above description is a detailed description of an example embodiment of the invention and is not intended to limit the invention in any way. The invention is capable of many modifications, improvements and adaptations by those skilled in the art. Accordingly, the scope of the invention should be determined from the following claims.
Claims (6)
1. A Stewart platform-based inertial measurement unit calibration method is characterized by comprising the following steps: the calibration method comprises the following steps of,
s1, fastening an inertial measurement unit consisting of a triaxial acceleration sensor and a triaxial angle sensor to the center of a motion plane of the Stewart platform, controlling the Stewart platform to generate a motion track with six spatial degrees of freedom, and providing corresponding excitation for the inertial measurement unit;
s2, measuring the excitation acceleration and the angle provided by the Stewart platform for the inertial measurement unit by using a machine vision method consisting of three cameras;
s3, simultaneously, acquiring output signals of the inertia measurement units under different space motion tracks by adopting data acquisition equipment, and processing the signals;
and S4, combining the excitation acceleration and the angle of the inertia measurement unit under different space motion tracks measured by a machine vision method and the output signal processing result of the inertia measurement unit to carry out sensitivity calculation, and storing and displaying the calibration result of the inertia measurement unit.
2. The method for calibrating the inertial measurement unit based on the Stewart platform as claimed in claim 1, wherein the method comprises the following steps:
the inertia measurement unit excitation acceleration and angle based on the Stewart platform specifically comprises:
(1) space linear vibration track based on Stewart platform
Firstly, establishing a follow-up coordinate system based on the center of a motion plane of a Stewart platform; then, by controlling the motion of each telescopic rod of the Stewart platform, the motion plane generates spatial linear vibration with different frequencies and amplitudes along X, Y and Z axes respectively, so as to provide excitation for a triaxial acceleration sensor of an inertia measurement unit;
(2) space angle vibration track based on Stewart platform
Firstly, establishing a follow-up coordinate system based on the center of a motion plane of a Stewart platform; and then, by controlling the motion of each telescopic rod of the Stewart platform, the motion plane generates spatial angle vibration with different frequencies and amplitudes along the pitching shaft, the rolling shaft and the yawing shaft of the triaxial angle sensor respectively, so as to provide excitation for the triaxial angle sensor of the inertial measurement unit.
3. The Stewart platform based inertial measurement unit calibration method of claim 1, wherein:
fixing a target for visual measurement on a motion plane of the Stewart platform, wherein the target is a cube block, each surface of the cube block is a pattern formed by two circles enveloping one rectangle, and the target, an inertia measurement unit and the motion plane have consistent motion characteristics; measuring the change of the position of the rectangular edge of each surface of the target by a machine vision method to obtain the excitation acceleration and the angle of the inertial measurement unit, and specifically comprising the following steps:
(1) measuring a space linear vibration track of the Stewart platform along X, Y and Z axes by using a machine vision method to obtain an excitation acceleration amplitude of the triaxial acceleration sensor of the inertia measurement unit;
(2) measuring the space angular vibration track of the Stewart platform along the pitching, rolling and yawing axes by using a machine vision method to obtain the excitation angle amplitude of the inertia measurement unit;
carrying out sine approximation fitting on the excitation acceleration and the angle measured by the machine vision method and the corresponding sampling time:
wherein, aX、aYAnd aZThe excitation acceleration values of the three-axial acceleration sensor in X, Y and Z directions are measured by a machine vision method; t is tjThe sampling time of the jth frame image is shown, wherein the subscript j is 1, 2, …, N is the number of acquired images; thetaP、θQAnd thetaRThe angles of the triaxial angle sensors on a pitch axis, a roll axis and a yaw axis are measured by a machine vision method; to solve the parameter AX、BX、CXAnd DXFor example, solving the first term of equation (1) based on the principle of least squares is performed by N aX(tj) And corresponds to tjThe formed overdetermined equation system obtains AX、BX、CXAnd DXA value of (d); similarly, the rest parameters are obtained through solving; calculating to obtain the amplitude of the excitation acceleration through the solved sine parameters
And
amplitude of excitation angle
And
as shown in the following formula:
4. the Stewart platform based inertial measurement unit calibration method of claim 1, wherein:
acquiring output signals of the inertia measurement units under different spatial motion tracks by using data acquisition equipment, selecting test frequency points according to 1/3 octave frequency, and determining excitation acceleration and angle amplitude by referring to a crossing curve of a Stewart platform; similarly, processing the acquired axial output signals of the inertia measurement unit by using a sine approximation method to obtain a fitting peak value V of the output signalsX、VY、VZ、θX、θYAnd thetaZ。
5. The Stewart platform based inertial measurement unit calibration method of claim 1, wherein:
calculating the sensitivity of the inertia measurement unit by using the excitation acceleration and angle peak values of the inertia measurement unit measured by a machine vision method and the output signal peak values in all axial directions; for the triaxial acceleration sensor, the fitted acceleration amplitude obtained in the step S2 is applied
And
and the output voltage peak value V of the triaxial acceleration sensor corresponding to the axial direction obtained in the step S3X、VYAnd VZAnd the sensitivity amplitude S of the triaxial acceleration sensor of the inertia measurement unit can be calculatedX、SY、SZComprises the following steps:
for calibration of the triaxial angle sensor, the fitted angle amplitude obtained in step S2
And
and the output angle value theta of the triaxial angle sensor obtained in the step S3 corresponding to the axial directionX、θYAnd thetaZAnd calculating to obtain the sensitivity S of the triaxial angle sensor of the inertia measurement unitP,θ、SQ,θAnd SR,θComprises the following steps:
6. the Stewart platform based inertial measurement unit calibration method of claim 1, wherein: the device for realizing the method comprises the following steps: the system comprises a Stewart platform (1), a motion plane (2), an inertia measurement unit (3), a data acquisition device (4), a Stewart platform motion control device (5), a target (6), a camera (7) and a data processing and displaying unit (8);
the motion plane (2) of the Stewart platform (1) provides the motion of the track in the space; the inertia measurement unit (3) and the target (7) are fastened on the motion plane (2) and have consistent motion characteristics; the cameras (7) are erected in three different directions of the table top and are used for measuring the pose of the target (6); the data acquisition equipment (4) is used for acquiring the output data of the inertia measurement unit (3); the Stewart platform motion control device (5) is used for controlling the Stewart platform (1) to generate corresponding spatial trajectory motion according to input parameters; the data processing and displaying unit (8) is used for processing the data acquired by the data acquisition equipment (4) and the data acquired by the three cameras (7), storing and displaying the spatial motion parameters of the motion plane (2) and the values of the output parameters of the inertial measurement unit, and outputting the calibration results of the inertial measurement unit.
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