CN107576334A

CN107576334A - The scaling method and device of Inertial Measurement Unit

Info

Publication number: CN107576334A
Application number: CN201610519242.0A
Authority: CN
Inventors: 张金凤
Original assignee: Beijing Unistrong Science & Technology Co Ltd
Current assignee: Beijing Unistrong Science & Technology Co Ltd
Priority date: 2016-07-04
Filing date: 2016-07-04
Publication date: 2018-01-12
Anticipated expiration: 2036-07-04
Also published as: CN107576334B

Abstract

The embodiment of the invention discloses the scaling method of IMU a kind of and device, under different laying states and rotation status, obtains each single axis gyroscope Output speed data in IMU respectively；Meanwhile obtain the acceleration information of each single-axis accelerometer output to remain static respectively under different laying states；Then, according to different laying states export data characteristicses, eliminate parameters between influence each other, that is, realize the decoupling of parameters, obtain the actual value of parameters, this improves IMU stated accuracy.

Description

The scaling method and device of Inertial Measurement Unit

Technical field

The present invention relates to automatic control technology field, more particularly to the scaling method and dress of a kind of Inertial Measurement Unit Put.

Background technology

IMU (Inertial Measurement Unit, Inertial Measurement Unit) includes three single-axis accelerometers and three Single axis gyroscope.Three orthogonal installations of single-axis accelerometer, for measuring the acceleration information of three direction of principal axis respectively；Three lists The orthogonal installation of axle gyroscope, for measuring the angular velocity information of three direction of principal axis respectively.Measure angle of the object in inertial space Speed and acceleration, and calculate with this posture of object.

MEMS (Micro-Electro-Mechanical Systems, MEMS) IMU obtains in navigation field More and more extensive application.It is affected by various factors, after MEMS IMU place a period of time, its error parameter and inertance element ginseng Number can be changed, it is impossible to meet navigation, the required precision of guidance, it is therefore necessary to periodically MEMS IMU relevant parameter is carried out Demarcation.

MEMS IMU parameters are individually demarcated respectively at present, the demarcation of each parameter is required for individually gathering Data, then demarcated.Due to being affected one another between IMU parameters, for example, zero bias, scale factor and misalignment it Between influence each other.Such a individually demarcation mode, not only calibration process is time-consuming longer, moreover, parameters affect one another, Ci Zhongbiao Determine mode can not eliminate or as far as possible reduce parameters between influencing each other (that is, parameters can not decouple), cause parameter Stated accuracy is relatively low.

The content of the invention

The scaling method and device of a kind of Inertial Measurement Unit are provided in the embodiment of the present invention, to solve in the prior art Inertial Measurement Unit parameter calibration precision it is low the problem of.

In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical scheme：

In a first aspect, the present invention provides a kind of Inertial Measurement Unit IMU scaling method, methods described includes：

In preset temperature environment, output data of each sensor under different laying states in the IMU is obtained respectively；

For sensor any one described, zero bias are eliminated using output data of the sensor under different laying states The influence of the comparative example factor, obtain the misalignment scale factor coupling terms of the sensor；Utilize the misalignment scale factor Coupling terms obtain the scale factor eliminated corresponding to the sensor after misalignment；Utilize the misalignment scale factor coupling terms And the scale factor, obtain the misalignment of the sensor；Using the scale factor and the misalignment, the biography is obtained The zero bias of sensor；

Using scale factor and zero bias corresponding to each sensor obtained under different preset temperatures, fitting system is obtained Number；

The fitting coefficient is substituted into the default output model of the IMU, obtain the demarcation output model of the IMU.

Alternatively, the laying state includes：

Y-axis positive direction is the first state in acceleration of gravity direction, X-axis positive direction and acceleration of gravity are in opposite direction the Two-state, Z axis positive direction rotate 180 ° with the acceleration of gravity third state in opposite direction, by the second state around the Z-axis direction Obtained the 4th state, by the first state 180 ° of the 5th obtained states are rotated around X-axis, and, by the third state 180 ° of the 6th obtained states are rotated around Y-axis.

Alternatively, it is described to utilize the sensor under different laying states if the sensor is single axis gyroscope Output data eliminate the zero bias comparative example factor influence, obtain the misalignment scale factor coupling terms of the sensor, including：

X-axis is calculated as rotary shaft, the angle speed that the single axis gyroscope exports under rotating forward state and inverted status respectively First difference of degrees of data；According to first difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain First misalignment scale factor coupling terms of the single axis gyroscope；

Y-axis is calculated as rotary shaft, the angle speed that the single axis gyroscope exports under rotating forward state and inverted status respectively Second difference of degrees of data；According to second difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain Second misalignment scale factor coupling terms of the single axis gyroscope；

Z axis is calculated as rotary shaft, the angle speed that the single axis gyroscope exports under rotating forward state and inverted status respectively 3rd difference of degrees of data；According to the 3rd difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain 3rd misalignment scale factor coupling terms of the single axis gyroscope.

Alternatively, it is described to be obtained using the misalignment scale factor coupling terms if the sensor is single axis gyroscope Obtain and the scale factor after misalignment is eliminated corresponding to the sensor, including：

For single axis gyroscope any one described, lost using the first misalignment scale factor coupling terms, described second Quasi- angle scale factor coupling terms and the 3rd misalignment scale factor coupling terms, according to triangle theorem, eliminate misalignment contrast The influence of the example factor, obtain the scale factor of the single axis gyroscope.

Alternatively, if the sensor is single axis gyroscope, it is described using the misalignment scale factor coupling terms and The scale factor, the misalignment of the sensor is obtained, including：

For single axis gyroscope any one described, using other in addition to axle where the single axis gyroscope in three axles Corresponding misalignment scale factor coupling terms when two axles are respectively as rotary shaft, and the scale factor of the single axis gyroscope, Misalignment of the single axis gyroscope respectively between other two axles is calculated respectively.

Alternatively, it is described to utilize the sensor in different laying states if the sensor is single-axis accelerometer Under output data eliminate the zero bias comparative example factor influence, obtain the misalignment scale factor coupling terms of the sensor, wrap Include：

Calculate that X-axis is identical with acceleration of gravity direction and inverse state under, acceleration that the single-axis accelerometer exports First difference of data；According to first difference, the acceleration of gravity and the preset temperature, obtain the single shaft and accelerate Spend the first misalignment scale factor coupling terms of meter；

Calculate that Y-axis is identical with acceleration of gravity direction and inverse state under, acceleration that the single-axis accelerometer exports Second difference of data；According to second difference, the acceleration of gravity and the preset temperature, obtain the single shaft and accelerate Spend the second misalignment scale factor coupling terms of meter；

Calculate that Z axis is identical with acceleration of gravity direction and inverse state under, acceleration that the single-axis accelerometer exports 3rd difference of data；According to the 3rd difference, the acceleration of gravity and the preset temperature, obtain the single shaft and accelerate Spend the 3rd misalignment scale factor coupling terms of meter.

Alternatively, it is described to utilize the misalignment scale factor coupling terms if the sensor is single-axis accelerometer Obtain and the scale factor after misalignment is eliminated corresponding to the sensor, including：

For single-axis accelerometer any one described, the first misalignment scale factor coupling terms, described second are utilized Misalignment scale factor coupling terms and the 3rd misalignment scale factor coupling terms, according to triangle theorem, eliminate misalignment pair The influence of scale factor, obtain the scale factor of the single-axis accelerometer.

Alternatively, it is described to utilize the misalignment scale factor coupling terms if the sensor is single-axis accelerometer And the scale factor, the misalignment of the sensor is obtained, including：

For single-axis accelerometer any one described, using in three axles in addition to axle where the single-axis accelerometer Corresponding misalignment scale factor coupling terms when other two axles are respectively as acceleration axle, and the ratio of the single-axis accelerometer The example factor, is calculated misalignment of the single-axis accelerometer respectively between other two axles respectively.

Second aspect, the present invention provide a kind of Inertial Measurement Unit IMU caliberating device, including：

Data acquisition module, in preset temperature environment, obtaining in the IMU each sensor respectively in different placements Output data under state；

Parameter calibration module, for for sensor any one described, using the sensor under different laying states Output data eliminate the zero bias comparative example factor influence, obtain the misalignment scale factor coupling terms of the sensor；Utilize The misalignment scale factor coupling terms obtain the scale factor eliminated corresponding to the sensor after misalignment；Utilize the mistake Quasi- angle scale factor coupling terms and the scale factor, obtain the misalignment of the sensor；Utilize the scale factor and institute Misalignment is stated, obtains the zero bias of the sensor；

Fitting module, for utilizing scale factor and zero corresponding to each sensor obtained under different preset temperatures Partially, fitting coefficient is obtained；

Output model demarcating module, for the fitting coefficient to be substituted into the default output model of the IMU, obtain institute State IMU demarcation output model.

Alternatively, if the sensor is single axis gyroscope, the parameter calibration module is used to utilize the sensor Output data under different laying states eliminates the influence of the zero bias comparative example factor, obtains the misalignment ratio of the sensor During factor coupling terms, it is specifically used for：

Alternatively, if the sensor is single axis gyroscope, the parameter calibration module utilizes the misalignment ratio When factor coupling terms obtain the scale factor after misalignment is eliminated corresponding to the sensor, it is specifically used for：

Alternatively, if the sensor is single axis gyroscope, the gyroscope parameters demarcating module utilizes the misalignment Angle scale factor coupling terms and the scale factor, when obtaining the misalignment of the sensor, are specifically used for：

Alternatively, if the sensor is single-axis accelerometer, the parameter calibration module is existed using the sensor Output data under different laying states eliminates the influence of the zero bias comparative example factor, obtain the misalignment ratio of the sensor because During sub- coupling terms, it is specifically used for：

Alternatively, if the sensor is single-axis accelerometer, the parameter calibration module utilizes the misalignment ratio When example factor coupling terms obtain the scale factor after misalignment is eliminated corresponding to the sensor, it is specifically used for：

Alternatively, if the sensor is single-axis accelerometer, the parameter calibration module utilizes the misalignment ratio Example factor coupling terms and the scale factor, when obtaining the misalignment of the sensor, are specifically used for：

From above technical scheme, IMU scaling methods provided in an embodiment of the present invention, each biography in IMU is obtained respectively Output data of the sensor under different conditions.First, the influence of the zero bias comparative example factor is eliminated using output data, comprising The misalignment scale factor coupling terms of misalignment and scale factor.Misalignment is eliminated using each misalignment scale factor coupling terms The influence of the comparative example factor, the actual proportions factor after being decoupled.Utilize the scale factor after decoupling and corresponding misalignment Scale factor coupling terms obtain real misalignment.Using the scale factor and misalignment after decoupling, real zero bias are obtained.Profit Fitting coefficient is obtained with the scale factor after decoupling under different temperatures environment and zero bias, then the fitting coefficient is substituted into the pre- of IMU If in output model, finally give the calibrated output models of IMU.The data characteristicses that this method exports according to different conditions, disappear Except influencing each other between parameters, that is, the decoupling of parameters is realized, obtain the actual value of parameters, therefore, improved IMU stated accuracy.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art Speech, without having to pay creative labor, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is a kind of IMU of embodiment of the present invention scaling method schematic flow sheet；

Fig. 2 is a kind of schematic diagram of laying state of the embodiment of the present invention；

Fig. 3 is a kind of IMU of embodiment of the present invention caliberating device block diagram.

Embodiment

Before being described in detail to the embodiment of the present invention, first the present invention IMU to be demarcated parameter is said It is bright：Zero bias are that but reality output is not zero in the case that IMU output should be 0 as its name suggests；Scale factor refers to IMU Reality output and input between proportionality factor；Misalignment refer to due to when the gyroscope or accelerometer of three axles are installed not It is completely orthogonal, causes relevant output of the axle to the axle to have an impact.For example, for X-axis gyroscope, Y-axis gyroscope and Z axis Gyroscope is relevant axle；For Y-axis gyroscope, X-axis gyroscope and Z axis gyroscope are relevant axles；For Z axis gyroscope Speech, X-axis gyroscope and Y-axis gyroscope are relevant axles.

IMU provided by the invention scaling method, in preset temperature environment, each sensing in the IMU is obtained respectively Output data of the device under different laying states；Then, for any one sensor, using the sensor in different placement shapes Output data under state eliminates the coupled relation between zero bias, scale factor and misalignment, i.e., parameters is decoupled；Again Using scale factor and zero bias corresponding to each sensor obtained under different preset temperatures, fitting coefficient is obtained；Finally, by institute State fitting coefficient to substitute into the default output model of the IMU, obtain the demarcation output model of the IMU, improve IMU mark Determine precision.

It should be noted that any one sensor herein refers to any one single axis gyroscope or any one list hereafter Axis accelerometer.

In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present invention, and make of the invention real Apply the above-mentioned purpose of example, feature and advantage can be more obvious understandable, below in conjunction with the accompanying drawings to technical side in the embodiment of the present invention Case is described in further detail.

MEMS IMU are exported under different temperatures environment has deviation, therefore, it is necessary to combination temperature is carried out to IMU parameter Demarcation.

Calibration process needs incubator, single shaft or multi-axis turntable, Hexahedron holding fixture, wherein, turntable is placed in incubator, incubator Temperature control；Hexahedron holding fixture is used for the IMU that fixed needs are demarcated.Turntable can rotate forward (up time around acceleration of gravity direction Pin rotates) or reversion (rotate counterclockwise).

Fig. 1 is referred to, is a kind of schematic flow sheet of IMU scaling methods provided in an embodiment of the present invention, Temperature of Warm Case is steady It is scheduled on after preset temperature T, IMU parameters is demarcated.In the present embodiment, with X-axis gyroscope and X-axis accelerometer Exemplified by illustrate：

S110, under different laying states, different rotary state, the angular velocity data of X-axis gyroscope output is obtained respectively.

Laying state includes X-axis, Y-axis and Z axis respectively as rotary shaft, and rotary shaft positive direction direction is opposite not Same state, for example, X-axis positive direction must be included when X-axis is as rotary shaft, in laying state simultaneously towards acceleration of gravity side To, and two states that X-axis positive direction is in opposite direction with acceleration of gravity.Rotation status is included around acceleration of gravity direction just Turn (turning clockwise) and invert (rotate counterclockwise) around acceleration of gravity direction.

S120, under different laying states, the acceleration information of X-axis accelerometer output is obtained respectively.

Demarcation accelerometer only needs the output data under IMU inactive states, and demarcating gyroscope needs under IMU dynamics Output data, therefore, S120 can be first carried out for some laying state, then, perform S110.

S130, the influence of the zero bias comparative example factor is eliminated using angular velocity data corresponding to X-axis gyroscope, obtains X-axis top The misalignment scale factor coupling terms of spiral shell instrument.

For X-axis gyroscope, misalignment scale factor coupling corresponding to X-axis gyroscope is calculated according to following steps respectively Close item：

1) X-axis is calculated as rotary shaft, the angular speed number that X-axis gyroscope exports under rotating forward state and inverted status respectively According to the first difference；According to the first difference, the speed of rotation of X-axis gyroscope and preset temperature, obtain X-axis gyroscope first is lost Quasi- angle scale factor coupling terms；Formula 8 hereinafter can be referred to, is no longer described in detail herein.

2) Y-axis is calculated as rotary shaft, the angular speed number that X-axis gyroscope exports under rotating forward state and inverted status respectively According to the second difference；According to the second difference, the speed of rotation of X-axis gyroscope and preset temperature, obtain X-axis gyroscope second is lost Quasi- angle scale factor coupling terms；The specific formula 7 that may refer to hereinafter, is no longer described in detail herein.

3) Z axis is calculated as rotary shaft, the angular speed number that X-axis gyroscope exports under rotating forward state and inverted status respectively According to the 3rd difference；According to the 3rd difference, the speed of rotation and preset temperature of X-axis gyroscope, obtain X-axis gyroscope the 3rd loses Quasi- angle scale factor coupling terms.Hereinafter formula 9 are may refer to, are no longer described in detail herein.

S140, using misalignment scale factor coupling terms obtain X-axis gyroscope corresponding to eliminate misalignment after ratio because Son.

For X-axis gyroscope, coupled using the first misalignment scale factor coupling terms, the second misalignment scale factor Item and the 3rd misalignment scale factor coupling terms, with reference to triangle formula, the influence of the misalignment comparative example factor is eliminated, is calculated The scale factor of X-axis gyroscope.Hereinafter formula 10 specifically are referred to, are no longer described in detail herein.

S150, using misalignment scale factor coupling terms and scale factor, obtain the misalignment of X-axis gyroscope.

For X-axis gyroscope, misalignment scale factor coupling terms corresponding to Y-axis as X-axis gyroscope during rotary shaft are utilized And scale factor, the misalignment of X-axis gyroscope and Y-axis gyroscope is calculated, specifically may refer to hereinafter formula 12, herein No longer it is described in detail.

By the use of misalignment scale factor coupling terms and scale factor corresponding to Z axis as X-axis gyroscope during rotary shaft, calculate The misalignment of X-axis gyroscope and X-axis gyroscope is obtained, hereinafter formula 11 is may refer to, is no longer described in detail herein.

S160, the proportion of utilization factor and the misalignment, obtain the zero bias of X-axis gyroscope.

After scale factor and misalignment after the decoupling of X-axis gyroscope are calculated using above-mentioned steps, X-axis top is calculated The true zero bias of spiral shell instrument, may refer to formula 13, are no longer described in detail herein.

S130~S160 is repeated, asks for the scale factor, misalignment and zero bias of Y-axis gyroscope and Z axis gyroscope.

Similarly, the scale factor, misalignment and zero bias of accelerometer are asked for reference to above-mentioned method.

S170, the influence of the zero bias comparative example factor is eliminated using the acceleration information of X-axis accelerometer, obtains X-axis acceleration Spend the misalignment scale factor coupling terms of meter.

For X-axis accelerometer, misalignment scale factor coupling terms can be calculated according to following steps：

1) acceleration information of X-axis accelerometer output when calculating X-axis is identical with acceleration of gravity direction respectively, and, X The first difference between the acceleration information that X-axis accelerometer exports when axle and acceleration of gravity in opposite direction；Then, according to One difference, acceleration of gravity and preset temperature, obtain the first misalignment scale factor coupling terms of X-axis accelerometer.

2) acceleration information of X-axis accelerometer output when calculating Y-axis is identical with acceleration of gravity direction respectively, and, Y The second difference between the acceleration information that X-axis accelerometer exports when axle and acceleration of gravity in opposite direction；Then, according to Two differences, acceleration of gravity and preset temperature, obtain the second misalignment scale factor coupling terms of X-axis accelerometer.

3) acceleration information of X-axis accelerometer output when calculating Z axis is identical with acceleration of gravity direction respectively, and, Z The 3rd difference between the acceleration information that X-axis accelerometer exports when axle and acceleration of gravity in opposite direction；Then, according to Three differences, acceleration of gravity and preset temperature, obtain the 3rd misalignment scale factor coupling terms of X-axis accelerometer.

S180, the ratio after misalignment is eliminated corresponding to single-axis accelerometer is obtained using misalignment scale factor coupling terms The factor.

Utilize the first misalignment scale factor coupling terms, the coupling of the second misalignment scale factor corresponding to X-axis accelerometer Item and the 3rd misalignment scale factor coupling terms, according to triangle theorem, the influence of the misalignment comparative example factor is eliminated, is calculated The scale factor of X-axis accelerometer.

S190, using misalignment scale factor coupling terms and scale factor, obtain the misalignment of X-axis accelerometer.

It is acceleration axle (that is, Y direction is identical with acceleration of gravity direction) using Y-axis for X-axis accelerometer In the state of misalignment scale factor coupling terms corresponding to X-axis accelerometer, and, X-axis that above-mentioned steps are calculated accelerates The scale factor of meter is spent, the misalignment between X-axis accelerometer and Y-axis accelerometer is calculated；

Similarly, the misalignment between X-axis accelerometer and Z axis accelerometer can be calculated, here is omitted.

S1100, using the scale factor and the misalignment, obtain the zero bias of X-axis accelerometer.

The scale factor and misalignment after the decoupling of X-axis accelerometer is calculated using above-mentioned steps, calculates X-axis acceleration The true zero bias of meter.

S170~S1100 is repeated, asks for the scale factor, misalignment and zero bias of Y-axis and Z axis accelerometer.

Then, X-axis under different preset temperatures, the scale factor of Y-axis and Z axis gyroscope, mistake are asked for after the same method Quasi- angle and zero bias；And ask for X-axis under different preset temperatures, the scale factor of Y-axis and Z axis accelerometer, misalignment and zero Partially.

S1110, using scale factor and zero bias corresponding to each single axis gyroscope obtained under different preset temperatures, and Scale factor and zero bias corresponding to each accelerometer, obtain fitting coefficient.

S1120 substitutes into fitting coefficient in the default output model of the IMU, obtains the demarcation output model of the IMU.

It should be noted that the parameters of accelerometer can also first be asked for, then the parameters of gyroscope are asked for, most IMU is demarcated using the parameter of accelerometer and gyroscope afterwards.

The IMU scaling methods that the present embodiment provides, under different laying states and rotation status, obtain respectively each in IMU Individual single axis gyroscope Output speed data；Meanwhile obtained respectively under different laying states remain static it is each The acceleration information of single-axis accelerometer output；Then, the influence of the zero bias comparative example factor is eliminated using angular velocity data, is obtained Misalignment scale factor coupling terms comprising misalignment and scale factor, then, utilize each misalignment scale factor coupling terms Eliminate the influence of the misalignment comparative example factor, the actual proportions factor after being decoupled.Utilize the scale factor and phase after decoupling The misalignment scale factor coupling terms answered obtain real misalignment.Using the scale factor and misalignment after decoupling, obtain true Real zero bias.Fitting coefficient is obtained using the scale factor after being decoupled under different temperatures environment and zero bias, then by the fitting coefficient Substitute into IMU default output model, finally give the calibrated output models of IMU.This method is defeated according to different laying states The data characteristicses gone out, eliminate parameters between influence each other, that is, realize the decoupling of parameters, obtain the true of parameters Real value, this improves IMU stated accuracy.

Fig. 2 is referred to, is a kind of schematic diagram of IMU provided in an embodiment of the present invention six laying states.

First state be the positive direction of Y-axis towards acceleration of gravity direction, the second state is X-axis positive direction and gravity accelerates Degree is in opposite direction；The third state is that Z axis positive direction and acceleration of gravity are in opposite direction；4th state is revolved about the z axis by the second state Obtained after turning 180 °；5th state by first state around X-axis rotate 180 ° after obtain；6th state is revolved by the third state around Y-axis Obtained after turning 180 °.

It should be noted that first, second, third, fourth, the five, the 6th are intended merely to distinguish different laying states, Wherein, each state can also exchange the title for difference, for example, first state can be defined as X-axis positive direction and gravity Acceleration state in opposite direction.

Data when IMU is placed with six laying states and storage are obtained respectively, it is not necessary to repeated acquisition data.

IMU calibration process based on the laying state shown in Fig. 2, will be described in detail below.

According to the default operating temperature range of IMU internal components, preset temperature T is selected, and it is stable at this in Temperature of Warm Case After preset temperature T, follow-up calibration process is carried out：

For three-axis gyroscope, it is necessary to using the speed of rotation of turntable as the input of three-axis gyroscope, therefore only use To dynamic data；And, it is necessary to using acceleration of gravity as the input of three axis accelerometer, therefore for three axis accelerometer Static data is only used, therefore, the process of output datas of the collection IMU under different conditions is as follows：

1) IMU is placed with first state, and turntable is static, gathers the output data of three axis accelerometer；

2) IMU is placed with first state, and the maximum speed of rotation v that turntable is allowed with three-axis gyroscope is rotated forward, and collection is now The output data of three-axis gyroscope；

3) IMU is placed with first state, and the maximum speed of rotation v that turntable is allowed with three-axis gyroscope is inverted, and collection is now The output data of three-axis gyroscope；

5) when IMU is placed with second, third, fourth, fifth, the 6th state respectively, repeat it is above-mentioned 1)~4) step adopts Collection process.

6) repeated under different preset temperatures it is above-mentioned 1)~5) gatherer process of step.

By taking X-axis gyroscope as an example, output of the X-axis gyroscope of required collection during parameter calibration under different conditions is carried out Data include：

E0_gx, IMU are placed with first state, the average for the X-axis gyroscope output data that turntable gathers when rotating forward；

E90_gx, IMU are placed with the second state, the average for the X-axis gyroscope output data that turntable gathers when rotating forward；

E180_gx, IMU are placed with first state, the average for the x-axis gyroscope output data that turntable gathers when inverting；

E270_gx, IMU are placed with the second state, the average for the x-axis gyroscope output data that turntable gathers when inverting；

E01_gx, IMU are placed with the third state, the average for the x-axis gyroscope output data that turntable gathers when rotating forward；

E1801_gx, IMU are placed with the third state, the average for the x-axis gyroscope output data that turntable gathers when inverting.

Ideally, IMU is placed with first state, and when turntable rotates, Y-axis gyroscope has output, X-axis gyroscope and Z The output of axle gyroscope is all zero, because only that Y direction has input (turntable rotates around acceleration of gravity direction), X-axis and Z axis Direction, which does not rotate, also just can't detect angular speed.But because the misalignment between zero bias, and X-axis and Y-axis is present, X-axis Component of input of the output of gyroscope comprising zero bias and Y-axis gyroscope in X-axis.It should be noted that under first state, by Do not inputted in Z axis gyroscope, so the output of Z axis and the misalignment of X-axis on X-axis gyroscope does not influence.Therefore, E0_gx Theoretical calculation formula as shown in Equation 1：

E0_gx=bias0_gx*T+scale_gx*T*v*sin (delta_o_gx) (formula 1)

In formula 1, bias0_gx is the zero bias of X-axis gyroscope, and scale_gx is the scale factor of X-axis gyroscope, and T is pre- If temperature, v be turntable the speed of rotation, misalignments of the delta_o_gx between X-axis and Y-axis；scale_gx*T*v*sin (delta_o_gx) influence of the Y-axis gyroscope input to the output of X-axis gyroscope caused by the misalignment between X-axis and Y-axis.

E90_gx theoretical calculation formula is as shown in Equation 2：

E90_gx=bias0_gx*T+scale_gx*T*v*cos (delta_p_gx) * cos (delta_o_gx)

(formula 2)

In formula 2, misalignments of the delta_p_gx between X-axis and Z axis, scale_gx*T*v*cos (delta_p_ Gx) * cos (delta_o_gx) are the shadows that Y, Z axis caused by misalignment of the X-axis respectively between Y, Z axis export to X-axis gyroscope Ring.

E180_gx theoretical calculation formula is as shown in Equation 3：

E180_gx=bias0_gx*T-scale_gx*T*v*sin (delta_o_gx) (formula 3)

E180_gx and E0_gx difference is that E0_gx is the data gathered when turntable rotates forward, and E180_gx is The data that turntable gathers when inverting；Under first state, turntable forward or reverse influences the symbol of Y-axis gyroscope input.Turntable is just Y-axis output is just when turning, and Y-axis output is negative during reversion, and therefore, scale_gx*T*v*sin (delta_o_gx) is negative sign.

E270_gx theoretical calculation formula is as shown in Equation 4：

E270_gx=bias0_gx*T-scale_gx*T*v*cos (delta_p_gx) * cos (delta_o_gx)

(formula 4)

Similarly, E180_gx and E0_gx the difference is that only turntable direction of rotation on the contrary, therefore, in formula 4 Scale_gx*T*v*cos (delta_p_gx) * cos (delta_o_gx) item is negative sign.

E01_gx theoretical calculation formula is as shown in Equation 5：

E01_gx=bias0_gx*T+scale_gx*T*v*sin (delta_p_gx) (formula 5)

Wherein, in formula 5, scale_gx*T*v*sin (delta_p_gx) causes Z axis to X for the misalignment of X-axis and Z axis The influence of axle output.

E1801_gx theoretical calculation formula is as shown in Equation 6：

E1801_gx=bias0_gx*T-scale_gx*T*v*sin (delta_p_gx) (formula 6)

Similarly, E1801_gx and E01_gx the difference is that only turntable direction of rotation on the contrary, therefore, in formula 6 Scale_gx*T*v*sin (delta_p_gx) item is negative sign.

This four parameters of bias0_gx, scale_gx, delta_o_gx and delta_p_gx are that X-axis gyroscope needs to demarcate Parameter.

Below by taking the demarcation of X-axis gyroscope as an example, specific calibration process is illustrated：

It can be seen from formula 1 and formula 3, zero bias can be eliminated to asking for the shadow of scale factor using E0_gx-E180_gx Ring.Derived and understood according to formula 1 and formula 3, the misalignment of X-axis and Y-axis ratio under first state can be calculated according to formula 7 Example factor coupling terms scale_gx*sin (delta_o_gx), is defined as A_gx, formula 7 is as follows：

A_gx=(E0_gx-E180_gx)/(2*v*T) (formula 7)

Similarly, zero bias can be eliminated to asking for the influence of scale factor using E90_gx-E270_gx, can using formula 8 Misalignment scale factor coupling terms scale_gx*cos (delta_p_gx) the * cos of Y-axis and Z axis respectively with X-axis are calculated (delta_o_gx), it is defined as C_gx.Formula 8 is as follows：

C_gx=(E90_gx-E270_gx)/(2*v*T) (formula 8)

Similarly zero bias can be eliminated to asking for the influence of scale factor using E01_gx-E1801_gx, can using formula 9 Z axis and the misalignment scale factor coupling terms scale_gx*sin (delta_p_gx) of X-axis under the third state is calculated, defines For B_gx.Formula 9 is as follows：

B_gx=(E01_gx-E1801_gx)/(2*v*T) (formula 9)

The data that 7~formula of formula 9 is tried to achieve are substituted into formula 10, utilize triangle theorem sin²x+cos²X=1 can disappear Except the influence of the misalignment comparative example factor, so as to which the scale factor after eliminating misalignment be calculated, that is, misalignment and ratio are decoupled The example factor.Formula 10 is as follows：

Due to B_gx=scale_gx*sin (delta_p_gx), the misalignment that can be derived by between Z axis and X-axis Delta_p_gx, formula 11 are as follows：

Delta_p_gx=arcsin (B_gx/scale_gx) (formula 11)

Wherein, B_gx is solved using formula 9 and obtained, and scale_gx is calculated using formula 10.

The misalignment that can be derived by according to A_gx=scale_gx*sin (delta_o_gx) between Y-axis and X-axis Delta_o_gx, formula 12 are as follows：

Delta_o_gx=arcsin (A_gx/scale_gx) (formula 12)

Wherein, A_gx is calculated using formula 7, and scale_gx is calculated using formula 10.

Decoupled using formula 11 and 12 pairs of misalignments and scale factor.

It can be derived by according to formula 1, the zero bias bias0_gx of X-axis gyroscope, as shown in Equation 13：

Bias0_gx=E0_gx-scale_gx*v*T*sin (delta_o_gx) (formula 13)

Wherein, E0_gx is the data collected, and scale_gx is calculated using formula 10, and delta_o_gx is utilized Formula 12 is calculated, and v is the turntable speed of rotation, and T is preset temperature.

Similarly, in preset temperature T, Y-axis gyroscope is demarcated.

Output data of the Y-axis gyroscope of required collection during parameter calibration under different conditions is carried out to Y-axis gyroscope Including：

E0_gy is that IMU is placed with the 4th state, the average for the y-axis gyro data that turntable gathers when rotating forward；

E90_gy is that IMU is placed with the 5th state, the average for the y-axis gyro data that turntable gathers when rotating forward；

E180_gy is that IMU is placed with the 4th state, the average for the y-axis gyro data that turntable gathers when inverting；

E270_gy is that IMU is placed with the 5th state, the average for the y-axis gyro data that turntable gathers when inverting；

E01_gy is that IMU is placed with the 6th state, the average for the y-axis gyro data that turntable gathers when rotating forward；

E1801_gy is that IMU is placed with the 6th state, the average for the y-axis gyro data that turntable gathers when inverting.

Then, the above-mentioned data of collection are substituted into below equation, eliminates the influence of the zero bias comparative example factor.

A_gy=(E0_gy-E180_gy)/(2*v*T) (formula 14)

C_gy=(E90_gy-E270_gy)/(2*v*T) (formula 15)

B_gy=(E01_gy-E1801_gy)/(2*v*T) (formula 16)

Wherein, in formula 14~16, v is the turntable speed of rotation, and T is preset temperature, and A_gy represents the ratio after eliminating zero bias The coupling terms of misalignment between the example factor and Y-axis and X-axis；C_gy is represented to be lost between scale factor and Y-axis and X, Z axis after eliminating zero bias The coupling terms at quasi- angle；B_gy represents the coupling terms of misalignment between scale factor and Y-axis and Z axis after eliminating zero bias.

The data that 14~formula of formula 16 is tried to achieve are substituted into formula 17, be calculated the ratio after eliminating misalignment because Son, formula 17 are as follows：

The B_gy that formula 16 is calculated, and the scale_gy that formula 17 is calculated, substitute into formula 18, calculate The true misalignment between Z axis and Y-axis is obtained, formula 18 is as follows：

Delta_p_gy=arcsin (B_gy/scale_gy) (formula 18)

The A_gy that formula 14 is calculated, and the scale_gy that formula 17 is calculated, substitute into formula 19, calculate The true misalignment between Y-axis and X-axis is obtained, formula 19 is as follows：

Delta_o_gy=arcsin (A_gy/scale_gy) (formula 19)

By the scale_gy being calculated and delta_o_gy, and E0_gy, substitute into formula 20, Y-axis top is calculated The true zero bias of spiral shell instrument, formula 20 are as follows：

Bias0_gy=E0_gy-scale_gy*v*T*sin (delta_o_gy) (formula 20)

Similarly, in preset temperature T, Z axis gyroscope is demarcated.

Output data of the Z axis gyroscope of required collection during parameter calibration under different conditions is carried out to Z axis gyroscope Including：

E0_gz is that IMU is placed with the 4th state, the average for the Z axis gyro data that turntable gathers when rotating forward；

E90_gz is that IMU is placed with the third state, the average for the Z axis gyro data that turntable gathers when rotating forward；

E180_gz is that IMU is placed with the 4th state, the average for the Z axis gyro data that turntable gathers when inverting；

E270_gz is that IMU is placed with the third state, the average for the Z axis gyro data that turntable gathers when inverting；

E01_gz is that IMU is placed with the 5th state, the average for the Z axis gyro data that turntable gathers when rotating forward；

E1801_gy is that IMU is placed with the 5th state, the average for the Z axis gyro data that turntable gathers when inverting.

A_gz=(E0_gz-E180_gz)/(2*v*T) (formula 21)

C_gz=(E90_gz-E270_gz)/(2*v*T) (formula 22)

B_gz=(E01_gz-E1801_gz)/(2*v*T) (formula 23)

Wherein, in formula 21~23, v is the turntable speed of rotation, and T is preset temperature, and A_gz represents the ratio after eliminating zero bias The coupling terms of misalignment between the example factor and Z axis and X-axis；C_gz is represented to be lost between scale factor and Z axis and X, Y-axis after eliminating zero bias The coupling terms at quasi- angle；B_gz represents the coupling terms of misalignment between scale factor and Z axis and Y-axis after eliminating zero bias.

The data that formula 21~23 is tried to achieve are substituted into formula 24, and the scale factor after eliminating misalignment is calculated, public Formula 24 is as follows：

By the B_gz being calculated and scale_gz, substitute into formula 25, the true misalignment between Z axis and Y-axis is calculated Angle, formula 25 are as follows：

Delta_p_gz=arcsin (B_gz/scale_gz) (formula 25)

By the A_gz being calculated and scale_gz, substitute into formula 26, the true misalignment between Z axis and X-axis is calculated Angle, formula 26 are as follows：

Delta_o_gz=arcsin (A_gz/scale_gz) (formula 26)

By the scale_gz being calculated and delta_o_gz, and E0_gz, substitute into formula 27, Z axis top is calculated The true zero bias of spiral shell instrument, formula 27 are as follows：

Bias0_gz=E0_gz-scale_gz*v*T*sin (delta_o_gz) (formula 27)

Then, according to above-mentioned same procedure ask for the zero bias of X, Y, Z axis gyroscope under different preset temperatures, scale factor and Misalignment.

For three axis accelerometer, by taking X-axis accelerometer as an example, illustrate the calibration process of three axis accelerometer.

The data of collection include needed for demarcation X-axis accelerometer：

E0_ax, IMU are placed with first state, and turntable is static, the average of the x-axis accelerometer output data of collection；

E90_ax, IMU are placed with the second state, and turntable is static, the average of the x-axis accelerometer output data of collection；

E180_ax, IMU are placed with the 5th state, and turntable is static, the average of the x-axis accelerometer output data of collection；

E270_ax, IMU are placed with the 4th state, and turntable is static, the average of the x-axis accelerometer output data of collection；

E01_ax, IMU are placed with the third state, and turntable is static, the average of the x-axis accelerometer output data of collection；

E1801_ax, IMU are placed with the 6th state, and turntable is static, the average of the x-axis accelerometer output data of collection.

Ideally, IMU is placed with first state, and turntable is static, Y-axis acceleration in respect of output, X-axis accelerometer and The output of Z axis accelerometer is all zero, because only that Y direction has input (acceleration of gravity), X-axis and Z-direction not to add Speed input also just can't detect acceleration output.But because the misalignment between zero bias, and X-axis and Y-axis is present, X-axis Component of input of the output of accelerometer comprising zero bias and Y-axis accelerometer in X-axis.It should be noted that first state Under, because Z axis accelerometer does not input, so the output of Z axis and the misalignment of X-axis on X-axis accelerometer does not influence.Cause This, E0_ax theoretical calculation formula is as shown in formula 28：

E0_ax=bias0_ax*T+scale_ax*T*g*sin (delta_o_ax) (formula 28)

In formula 28, bias0_ax is the zero bias of X-axis accelerometer, and scale_ax is the scale factor of X-axis accelerometer, T is preset temperature, and g is acceleration of gravity, misalignments of the delta_o_gx between X-axis and Y-axis；scale_ax*T*g*sin (delta_o_ax) influence of the Y-axis input to X-axis output, referred to as Y-axis and X-axis misalignment caused by the misalignment of Y-axis and X-axis Scale factor coupling terms.

E90_ax theoretical calculation formula is as shown in formula 29：

E90_ax=bias0_ax*T+scale_ax*T*g*cos (delta_p_ax) * cos (delta_o_ax)

(formula 29)

In formula 29, delta_p_ax is the X-axis misalignment scale factor coupling terms with Y, Z axis respectively.

E180_ax theoretical calculation formula is as shown in formula 30：

E180_ax=bias0_ax*T-scale_ax*T*g*sin (delta_o_ax) (formula 30)

E270_ax theoretical calculation formula is as shown in formula 31：

E270_ax=bias0_ax*T-scale_ax*T*g*cos (delta_p_ax) * cos (delta_o_ax)

(formula 31)

E01_ax theoretical calculation formula is as shown in formula 32：

E01_ax=bias0_ax*T+scale_ax*T*v*sin (delta_p_ax) (formula 32)

In formula 32, scale_ax*T*v*sin (delta_p_ax) is that the misalignment between Z axis and X-axis causes Z axis to accelerate The influence that the input of degree meter exports to X-axis accelerometer, turns into misalignment scale factor coupling terms between Z axis and X-axis.

E1801_ax theoretical calculation formula is as shown in formula 33：

E1801_ax=bias0_ax*T-scale_ax*T*v*sin (delta_p_ax) (formula 33)

It can be derived by according to formula 28 and 30, the misalignment scale factor coupling terms of X-axis and Y-axis, be defined as A_ax, As shown in formula 34：

A_ax=(E0_ax-E180_ax)/(2*g*T) (formula 34)

Wherein, zero bias are eliminated to asking for the influence of scale factor by E0_ax-E180_ax.

Misalignment scale factor coupling terms of the X-axis respectively with Y, Z axis can be derived by according to formula 29 and 31, be defined as C_ax, as shown in formula 35：

C_ax=(E90_ax-E270_ax)/(2*g*T) (formula 35)

Wherein, zero bias are eliminated to asking for the influence of scale factor by E90_ax-E270_ax.

The misalignment scale factor coupling terms of Z axis and X-axis can be derived by according to formula 32 and 33, are positioned as B_ax, As shown in formula 36：

B_ax=(E01_ax-E1801_ax)/(2*g*T) (formula 36)

Wherein, zero bias are eliminated to asking for the influence of scale factor by E01_ax-E1801_ax.

The data that 34~formula of formula 36 is tried to achieve are substituted into formula 37, be calculated the ratio after eliminating misalignment because Son, that is, decouple misalignment and scale factor, formula 37 are as follows：

The B_ax being calculated and scale_ax is substituted into formula 38, the misalignment between X-axis and Z axis can be calculated Delta_p_ax, formula 38 are as follows：

Delta_p_ax=asin (B_ax/scale_ax) (formula 38)

The A_ax being calculated and scale_ax is substituted into formula 39, the misalignment between Y-axis and X-axis can be obtained Delta_o_ax, formula 39 are as follows：

Delta_o_ax=asin (A_ax/scale_ax) (formula 39)

Sacle_ax, the delta_o_ax that will be calculated, and the E0_ax collected are substituted into formula 40, are calculated It is as follows to the zero bias bias0_ax of X-axis accelerometer, formula 40：(g=1, so not having)

Bias0_ax=E0_ax-sacle_ax*T*g*sin (delta_o_ax) (formula 40)

Wherein, T is preset temperature, and g is acceleration of gravity.

Similarly, in preset temperature T, Y-axis accelerometer is demarcated, the data of collection include needed for calibration process：

E0_ay, IMU are placed with the 6th state, and turntable is static, the average of the y-axis accelerometer output data of collection；

E90_ay, IMU are placed with the 5th state, and turntable is static, the average of the y-axis accelerometer output data of collection；

E180_ay, IMU are placed with the third state, and turntable is static, the average of the y-axis accelerometer output data of collection；

E270_ay, IMU are placed with first state, and turntable is static, the average of the y-axis accelerometer output data of collection；

E01_ay, IMU are placed with the second state, and turntable is static, the average of the y-axis accelerometer output data of collection；

E1801_ay, IMU are placed with the 4th state, and turntable is static, the average of the y-axis accelerometer output data of collection.

A_ay=(E0_ay-E180_ay)/(2*g*T) (formula 41)

C_ay=(E90_ay-E270_ay)/(2*g*T) (formula 42)

B_ay=(E01_ay-E1801_ay)/(2*g*T) (formula 43)

Wherein, in formula 41~43, g is acceleration of gravity, and T is preset temperature, and A_gy represents the ratio after eliminating zero bias The coupling terms of misalignment between the factor and Y-axis and X-axis；C_gy represents misalignment between scale factor and Y-axis and X, Z axis after eliminating zero bias The coupling terms at angle；B_gy represents the coupling terms of misalignment between scale factor and Y-axis and Z axis after eliminating zero bias.

A_gy, B_gy and C_gy for being calculated are substituted into formula 44, the elimination misalignment of Y-axis accelerometer is calculated Scale factor behind angle, formula 44 are as follows：

The B_ay being calculated and scale_ay is substituted into formula 45, the true misalignment between Y-axis and Z axis is calculated Delta_p_ay, formula 45 are as follows：

Delta_p_ay=asin (B_ay/scale_ay) (formula 45)

The A_ay being calculated and scale_ay is substituted into formula 46, the misalignment between Y-axis and X-axis is calculated Delta_o_ay, formula 46 are as follows：

Delta_o_ay=asin (A_ay/scale_ay) (formula 46)

Sacle_ay, the delta_o_ay that will be calculated, and the E0_ay collected are substituted into formula 47, are calculated It is as follows to the zero bias of Y-axis accelerometer, formula 47：

Bias0_ay=E0_ay-sacle_ay*T*g*sin (delta_o_ay) (formula 47)

Similarly, Z axis accelerometer is demarcated in preset temperature T after the same method, gathered needed for calibration process Data include：

E0_az, IMU are placed with the 4th state, and turntable is static, the average of the z-axis accelerometer output data of collection；

E90_az, IMU are placed with the third state, and turntable is static, the average of the z-axis accelerometer output data of collection；

E180_az, IMU are placed with the second state, and turntable is static, the average of the z-axis accelerometer output data of collection；

E270_az, IMU are placed with the 6th state, and turntable is static, the average of the z-axis accelerometer output data of collection；

E01_az, IMU are placed with the 5th state, and turntable is static, the average of the z-axis accelerometer output data of collection；

E1801_az, IMU are placed with first state, and turntable is static, the average of the z-axis accelerometer output data of collection.

A_az=(E0_az-E180_az)/(2*g*T) (formula 48)

C_az=(E90_az-E270_az)/(2*g*T) (formula 49)

B_ay=(E01_az-E1801_az)/(2*g*T) (formula 50)

Wherein, in formula 48~50, g is acceleration of gravity, and T is preset temperature, and A_gz represents the ratio after eliminating zero bias The coupling terms of misalignment between the factor and Z axis and X-axis；C_gz represents misalignment between scale factor and Z axis and X, Y-axis after eliminating zero bias The coupling terms at angle；B_gz represents the coupling terms of misalignment between scale factor and Z axis and Y-axis after eliminating zero bias.

A_gz, B_gz and C_gz for being calculated are substituted into formula 51, the elimination misalignment of Z axis accelerometer is calculated Scale factor behind angle, formula 51 are as follows：

The B_az being calculated and scale_az is substituted into formula 52, the true misalignment between Z axis and Y-axis is calculated Delta_p_az, formula 52 are as follows：

Delta_p_az=asin (B_az/scale_az) (formula 52)

The A_az being calculated and scale_az is substituted into formula 53, the misalignment between Z axis and X-axis is calculated Delta_o_az, formula 53 are as follows：

Delta_o_az=asin (A_az/scale_az) (formula 53)

Sacle_az, the delta_o_az that will be calculated, and the E0_az collected are substituted into formula 54, are calculated It is as follows to the zero bias of Z axis accelerometer, formula 54：

Bias0_az=E0_az-sacle_az*T*g*sin (delta_o_az) (formula 54)

Then, ask for by the same way under different preset temperatures, the zero bias of X, Y, Z axis accelerometer, scale factor and Misalignment.

It is corresponding with IMU provided by the invention scaling method embodiment, it is real present invention also offers IMU caliberating device Apply example.

It is a kind of structural representation of IMU caliberating device provided in an embodiment of the present invention referring to Fig. 3, as shown in figure 3, The device includes：Data acquisition module 110, parameter calibration module 120, fitting module 130 and output model demarcating module 140.

Data acquisition module 110, in preset temperature environment, obtaining in the IMU each sensor respectively in difference Output data under laying state.

Sensor in the present embodiment is above-mentioned single axis gyroscope or single-axis accelerometer.

Parameter calibration module 120, for for sensor any one described, using the sensor in different laying states Under output data eliminate the zero bias comparative example factor influence, obtain the misalignment scale factor coupling terms of the sensor；Profit The scale factor after misalignment is eliminated corresponding to the sensor is obtained with the misalignment scale factor coupling terms；Using described Misalignment scale factor coupling terms and the scale factor, obtain the misalignment of the sensor；Using the scale factor and The misalignment, obtain the zero bias of the sensor.

Fitting module 130, for utilizing scale factor corresponding to each sensor obtained under different preset temperatures And zero bias, obtain fitting coefficient；

Output model demarcating module 140, for the fitting coefficient to be substituted into the default output model of the IMU, obtain To the demarcation output model of the IMU.

The IMU scaling methods that the present embodiment provides, under different laying states and rotation status, obtain respectively each in IMU Individual single axis gyroscope Output speed data；Meanwhile obtained respectively under different laying states remain static it is each The acceleration information of single-axis accelerometer output；According to different laying states export data characteristicses, eliminate parameters between Influence each other, that is, realize the decoupling of parameters, obtain the actual value of parameters, this improves IMU demarcation essence Degree.

In some embodiments of the invention, if sensor is single axis gyroscope, instrument parameter demarcating module 120 calculates To the single axis gyroscope misalignment scale factor coupling terms when, be specifically used for：

In another embodiment of the present invention, if sensor is single axis gyroscope, described in the utilization of parameter calibration module 120 When misalignment scale factor coupling terms obtain the scale factor after misalignment is eliminated corresponding to sensor, it is specifically used for：

For single axis gyroscope any one described, the first misalignment scale factor coupling terms, second misalignment are utilized Scale factor coupling terms and the 3rd misalignment scale factor coupling terms, according to triangle theorem, eliminate misalignment comparative example because The influence of son, obtain the scale factor of the single axis gyroscope.

In some embodiments of the invention, parameter calibration module 120 using the misalignment scale factor coupling terms and The scale factor, when obtaining the misalignment of sensor, it is specifically used for：

The calibration process of accelerometer is similar with the calibration process of gyroscope, in some embodiments of the invention, parameter When the misalignment scale factor coupling terms of the single-axis accelerometer are calculated in demarcating module 120, it is specifically used for：

In another embodiment of the present invention, if sensor is single-axis accelerometer, parameter calibration module 120 utilizes When misalignment scale factor coupling terms obtain the scale factor after misalignment is eliminated corresponding to sensor, it is specifically used for：

For any one single-axis accelerometer, the first misalignment scale factor coupling terms, second misalignment are utilized Angle scale factor coupling terms and the 3rd misalignment scale factor coupling terms, according to triangle theorem, eliminate misalignment comparative example The influence of the factor, obtain the scale factor of single-axis accelerometer.

Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Especially for device or For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method The part explanation of embodiment.Those of ordinary skill in the art are without creative efforts, you can to understand And implement.

It should be noted that herein, the relational terms of such as " first " and " second " or the like are used merely to one Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it Between any this actual relation or order be present.

Described above is only the embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims

1. a kind of Inertial Measurement Unit IMU scaling method, it is characterised in that methods described includes：

For sensor any one described, zero bias contrast is eliminated using output data of the sensor under different laying states The influence of the example factor, obtains the misalignment scale factor coupling terms of the sensor；Coupled using the misalignment scale factor Item obtains the scale factor eliminated corresponding to the sensor after misalignment；Utilize the misalignment scale factor coupling terms and institute Scale factor is stated, obtains the misalignment of the sensor；Using the scale factor and the misalignment, the sensor is obtained Zero bias；

Using scale factor and zero bias corresponding to each sensor obtained under different preset temperatures, fitting coefficient is obtained；

2. according to the method for claim 1, it is characterised in that the laying state includes：

Y-axis positive direction is first state, the X-axis positive direction in acceleration of gravity direction second shape in opposite direction with acceleration of gravity State, Z axis the positive direction third state in opposite direction with acceleration of gravity, by the second state around the Z-axis direction rotate 180 ° obtain The 4th state, by the first state rotate 180 ° of the 5th obtained states around X-axis, and, by the third state around Y-axis To 180 ° of the 6th obtained states of rotation.

3. according to the method for claim 1, it is characterised in that if the sensor is single axis gyroscope, the utilization Output data of the sensor under different laying states eliminates the influence of the zero bias comparative example factor, obtains the sensor Misalignment scale factor coupling terms, including：

X-axis is calculated as rotary shaft, the angular speed number that the single axis gyroscope exports under rotating forward state and inverted status respectively According to the first difference；According to first difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain described First misalignment scale factor coupling terms of single axis gyroscope；

Y-axis is calculated as rotary shaft, the angular speed number that the single axis gyroscope exports under rotating forward state and inverted status respectively According to the second difference；According to second difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain described Second misalignment scale factor coupling terms of single axis gyroscope；

Z axis is calculated as rotary shaft, the angular speed number that the single axis gyroscope exports under rotating forward state and inverted status respectively According to the 3rd difference；According to the 3rd difference, the speed of rotation of the single axis gyroscope and the preset temperature, obtain described 3rd misalignment scale factor coupling terms of single axis gyroscope.

4. according to the method for claim 3, it is characterised in that if the sensor is single axis gyroscope, the utilization The misalignment scale factor coupling terms obtain the scale factor eliminated corresponding to the sensor after misalignment, including：

5. according to the method for claim 4, it is characterised in that if the sensor is single axis gyroscope, the utilization The misalignment scale factor coupling terms and the scale factor, the misalignment of the sensor is obtained, including：

For single axis gyroscope any one described, other two in three axles in addition to axle where the single axis gyroscope are utilized Corresponding misalignment scale factor coupling terms when axle is respectively as rotary shaft, and the scale factor of the single axis gyroscope, respectively Misalignment of the single axis gyroscope respectively between other two axles is calculated.

6. according to the method for claim 1, it is characterised in that if the sensor is single-axis accelerometer, the profit The influence of the zero bias comparative example factor is eliminated with output data of the sensor under different laying states, obtains the sensor Misalignment scale factor coupling terms, including：

Calculate that X-axis is identical with acceleration of gravity direction and inverse state under, acceleration information that the single-axis accelerometer exports The first difference；According to first difference, the acceleration of gravity and the preset temperature, the single-axis accelerometer is obtained The first misalignment scale factor coupling terms；

Calculate that Y-axis is identical with acceleration of gravity direction and inverse state under, acceleration information that the single-axis accelerometer exports The second difference；According to second difference, the acceleration of gravity and the preset temperature, the single-axis accelerometer is obtained The second misalignment scale factor coupling terms；

Calculate that Z axis is identical with acceleration of gravity direction and inverse state under, acceleration information that the single-axis accelerometer exports The 3rd difference；According to the 3rd difference, the acceleration of gravity and the preset temperature, the single-axis accelerometer is obtained The 3rd misalignment scale factor coupling terms.

7. according to the method for claim 6, it is characterised in that if the sensor is single-axis accelerometer, the profit The scale factor after misalignment is eliminated corresponding to the sensor is obtained with the misalignment scale factor coupling terms, including：

For single-axis accelerometer any one described, the first misalignment scale factor coupling terms, second misalignment are utilized Angle scale factor coupling terms and the 3rd misalignment scale factor coupling terms, according to triangle theorem, eliminate misalignment comparative example The influence of the factor, obtain the scale factor of the single-axis accelerometer.

8. according to the method for claim 7, it is characterised in that if the sensor is single-axis accelerometer, the profit With the misalignment scale factor coupling terms and the scale factor, the misalignment of the sensor is obtained, including：

For single-axis accelerometer any one described, using other in addition to axle where the single-axis accelerometer in three axles Corresponding misalignment scale factor coupling terms when two axles are respectively as acceleration axle, and the single-axis accelerometer ratio because Son, misalignment of the single-axis accelerometer respectively between other two axles is calculated respectively.

A kind of 9. Inertial Measurement Unit IMU caliberating device, it is characterised in that including：

Data acquisition module, in preset temperature environment, obtaining in the IMU each sensor respectively in different laying states Under output data；

Parameter calibration module, it is defeated under different laying states using the sensor for for sensor any one described Go out the influence that data eliminate the zero bias comparative example factor, obtain the misalignment scale factor coupling terms of the sensor；Using described Misalignment scale factor coupling terms obtain the scale factor eliminated corresponding to the sensor after misalignment；Utilize the misalignment Scale factor coupling terms and the scale factor, obtain the misalignment of the sensor；Utilize the scale factor and the mistake Quasi- angle, obtain the zero bias of the sensor；

Fitting module, for using scale factor and zero bias corresponding to each sensor obtained under different preset temperatures, Obtain fitting coefficient；

Output model demarcating module, for the fitting coefficient to be substituted into the default output model of the IMU, obtain described IMU demarcation output model.

10. device according to claim 9, it is characterised in that if the sensor is single axis gyroscope, the parameter Demarcating module is used for the influence that the zero bias comparative example factor is eliminated using output data of the sensor under different laying states, When obtaining the misalignment scale factor coupling terms of the sensor, it is specifically used for：

11. device according to claim 10, it is characterised in that if the sensor is single axis gyroscope, the ginseng Number demarcating module obtains the ratio after misalignment is eliminated corresponding to the sensor using the misalignment scale factor coupling terms During the factor, it is specifically used for：

12. device according to claim 11, it is characterised in that if the sensor is single axis gyroscope, the top Spiral shell instrument parameter demarcating module utilizes the misalignment scale factor coupling terms and the scale factor, obtains the mistake of the sensor During quasi- angle, it is specifically used for：

13. device according to claim 9, it is characterised in that if the sensor is single-axis accelerometer, the ginseng Number demarcating module eliminates the influence of the zero bias comparative example factor using output data of the sensor under different laying states, obtains To the sensor misalignment scale factor coupling terms when, be specifically used for：

14. device according to claim 13, it is characterised in that described if the sensor is single-axis accelerometer Parameter calibration module obtains the ratio after misalignment is eliminated corresponding to the sensor using the misalignment scale factor coupling terms During the example factor, it is specifically used for：

15. device according to claim 14, it is characterised in that described if the sensor is single-axis accelerometer Parameter calibration module utilizes the misalignment scale factor coupling terms and the scale factor, obtains the misalignment of the sensor When, it is specifically used for：