CN116147667B - Single-axis rotation modulation method for double-sided MEMS IMUs - Google Patents

Single-axis rotation modulation method for double-sided MEMS IMUs Download PDF

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CN116147667B
CN116147667B CN202310415004.5A CN202310415004A CN116147667B CN 116147667 B CN116147667 B CN 116147667B CN 202310415004 A CN202310415004 A CN 202310415004A CN 116147667 B CN116147667 B CN 116147667B
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王柯南
刘鑫明
金永超
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North China University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention relates to the field of intelligent system navigation and measurement, in particular to a double-sided MEMS IMUs single-axis rotation modulation method. 1 IMU array is constructed by using two IMUs with the same precision, wherein the front X axis faces to the right and the Y axis faces to the upper direction; the Y axis of the back face faces to the left and the X axis is upward; adopting a forward and reverse 180-degree rotation scheme around a Y-axis of a platform coordinate system; constructing a double-sided MEMS IMU error model, subtracting a front MEMS IMU measurement model from a back MEMS IMU measurement model to obtain an error model, wherein the front and the back are respectively represented by numerals 1 and 2; by adopting a hardware design method of the double-sided MEMS IMU, the X axis of the front IMU is overlapped with the Y axis of the back IMU, and the direction errors of the rotating shafts are mutually modulated during rotation modulation. The MEMS IMUs occupy space, the defect that errors cannot be modulated in the rotation axis direction by the single-axis rotation modulation technology is avoided, and the MEMS IMU measurement accuracy is improved.

Description

Single-axis rotation modulation method for double-sided MEMS IMUs
Technical Field
The invention relates to the field of intelligent system navigation and measurement, in particular to a double-sided MEMS IMUs uniaxial rotation modulation method.
Background
The inertial microsystem (micro inertial measurement unit, MEMS IMU) has the characteristics of small volume, low cost, low power consumption and the like, and is widely applied to related fields such as smart phones, mobile wearing equipment, robots and the like. However, the error of the low-precision MEMS IMU can rapidly diverge over time under the influence of the inertial device manufacturing process.
In order to improve the precision of the MEMS IMU, two main approaches are currently available, one approach is to improve the precision of a single MEMS IMU from the aspects of improving and designing hardware, such as improving the process and introducing new materials, but the method has long period and large investment. By designing and arranging a plurality of MEMS IMU arrays with low precision on a hard circuit board and then carrying out data fusion based on a measurement adjustment theory, not only can the measurement precision be improved, but also the problem that a system is not available due to the failure of a single MEMS IMU can be prevented. However, the accuracy of the array MEMS IMU is improved at the expense of the advantage of the ultra-small size of a single MEMS IMU, which increases the footprint by at least a factor of 3 (and also increases the routing space and capacitance space) if only two MEMS IMUs are arranged. Therefore, the application of the array MEMS IMU in the field of small electronic products such as smart phones, mobile wearing equipment and the like is greatly limited.
The rotation modulation technology is an important means for improving the precision of the MEMS IMU from the algorithm angle, and the measurement precision is improved by fixedly connecting the IMU on a rotation mechanism and periodically rotating around a certain axis or a plurality of axes by adopting a set rotation scheme so as to offset constant errors. The rotary modulation system is of the single-axis, double-axis and three-axis types, wherein the single-axis system is the simplest to operate and has the best stability. However, the uniaxial system has a problem that the rotation axis direction error cannot be modulated.
The above-mentioned problems are not solved or overcome by the more recent patent documents CN105277213A, CN102620734A, CN110501028A, CN114061572a and CN111397635A published by the national intellectual property office.
Disclosure of Invention
The present invention aims to overcome the above-mentioned drawbacks and/or disadvantages of the prior art, and thereby provide a method for uniaxial rotation modulation of double-sided MEMS IMUs.
The invention adopts the following technical scheme:
a method for modulating double-sided MEMS IMUs by uniaxial rotation, comprising the steps of:
1) 1 IMU arrays are constructed by using two IMUs with the same precision, and the two IMUs are respectively attached to the front surface and the back surface of the board card; the MEMS IMUs coordinate system is defined as follows: the front X axis faces to the right, the Y axis faces upwards, and the Z axis points to the outside of the board; the Y axis of the back face faces to the left, the X axis is upwards, and the Z axis points to the outside of the board card; the front X axis coincides with the back IMU Y axis;
2) Carrier coordinate system
Figure SMS_1
And platform coordinate System->
Figure SMS_2
Is defined as follows: definitions->
Figure SMS_3
The three axes are fixedly connected with the MEMS IMUs, and the directions of the three axes are coincident with the triaxial sensitive axes of the front IMUs of the double-sided MEMS IMUs; definitions->
Figure SMS_4
The rotating angle between the carrier and the motor is defined as the rotation angle of the rotating mechanism;
3) In the single-axis rotation modulation system, double-sided MEMS IMUs are fixedly connected with a rotary table, the rotary table is connected with a motor below, and a rotation scheme of positive and negative 180 degrees around a Y-axis of a platform coordinate system is adopted: namely, the front MEMS IMU rotates around the Y axis of the front MEMS IMU, the back MEMS IMU rotates around the X axis of the front MEMS IMU, and the rotation angle is that
Figure SMS_5
；
4) The rotation scheme is as follows: (1) the IMUs rotate 180 degrees anticlockwise to a position B by taking the position A as a starting point, and stop for t seconds; (2) the IMUs rotate 180 degrees clockwise from the position B to the position A and stop for t seconds; (3) the IMUs rotate clockwise from the position A to the position B by 180 degrees, and stop for t seconds; (4) the IMUs rotate 180 degrees anticlockwise from the position B to the position A and stop t seconds;
5) Platform coordinate system
Figure SMS_6
The following gyroscopes and accelerometer measurement models were as follows:
Figure SMS_7
，
Figure SMS_9
and->
Figure SMS_10
Respectively->
Figure SMS_12
Measurements of tethered gyroscopes and accelerometers, < >>
Figure SMS_14
And->
Figure SMS_16
Scaling factor error matrix for gyroscope and accelerometer respectively,>
Figure SMS_18
and->
Figure SMS_19
Ideal output values for gyroscope and accelerometer, respectively,/->
Figure SMS_8
And->
Figure SMS_11
Zero bias of gyro and accelerometer respectively, < >>
Figure SMS_13
And->
Figure SMS_15
Measurement noise of gyro and accelerometer, respectively, < >>
Figure SMS_17
Is a unit matrix;
Figure SMS_20
representation->
Figure SMS_21
Is tied to->
Figure SMS_22
The following conversion matrix is expressed as follows: />
Figure SMS_23
In (1) the->
Figure SMS_24
The rotation angle of the MEMS IMUs;
Figure SMS_25
6) In order to construct a double-sided MEMS IMUs error model, subtracting the front MEMS IMU measurement model from the back MEMS IMU measurement model to obtain the double-sided MEMS IMUs error model, wherein the front and the back are respectively represented by numerals 1 and 2;
Figure SMS_26
Figure SMS_27
in the method, in the process of the invention,
Figure SMS_28
and->
Figure SMS_29
Indicating gyroscope errors and accelerometer errors, respectively.
Compared with the prior art, the invention comprehensively utilizes two means of hardware optimization design and single-axis rotation modulation technology, adopts a hardware design method of double-sided MEMS IMU (the opposite sides of the two MEMS IMU are bonded), and does not need a printed circuit board. The X axis of the front IMU coincides with the Y axis of the back IMU, and the rotation axis direction errors can be mutually modulated during rotation modulation. The MEMS IMU measurement precision is improved by not only reducing the occupied space of the MEMS IMUs, but also avoiding the defect that the error of the single-axis rotation modulation technology in the direction of the rotation axis cannot be modulated.
The invention adopts the following preferable scheme:
and constructing 1 IMU array by using two IMUs with the same precision, and completely identical appearance structures of the two IMUs.
The platform coordinate system coincides with the front Y-axis coordinate system.
Drawings
Fig. 1 is a schematic diagram of the front structure of a rotary modulation system.
Fig. 2 is a schematic diagram of the reverse structure of a rotary modulation system.
Fig. 3 is an error distribution pattern.
FIG. 4 is a schematic illustration of a single axis continuous forward and reverse rotation scheme.
Detailed Description
The invention is described in detail below with reference to the attached drawings and examples:
referring to fig. 1 to 4, in which: a motor 10, a turntable 20, a front IMU30, a back IMU40.
A method for modulating double-sided MEMS IMUs by uniaxial rotation, comprising the steps of:
1) 1 IMU array is built by using two IMUs with the same precision, the appearance structures of the two IMUs are identical, and the two IMUs are respectively attached to the front surface and the back surface of the board card; the X axis of the front face coincides with the Y axis of the IMU of the back face.
The MEMS IMUs coordinate system is defined as follows: the front X axis faces to the right, the Y axis faces upwards, and the Z axis points to the outside of the board; the reverse Y axis is directed to the left, the X axis is directed to the X axis, and the Z axis is directed to the outside of the board.
2) Carrier coordinate system
Figure SMS_30
And platform coordinate System->
Figure SMS_31
Is defined as follows: definitions->
Figure SMS_32
The three axes are fixedly connected with the MEMS IMUs, and the directions of the three axes are coincident with the triaxial sensitive axes of the front IMU30 of the double-sided MEMS IMUs; definitions->
Figure SMS_33
Is fixedly connected with the motor 10, and the included angle between the carrier and the plane is defined as the rotation angle of the rotation mechanism during rotation.
3) In the single-axis rotation modulation system, double-sided MEMS IMUs are fixedly connected with a turntable 20, the turntable 20 is connected with a motor 10 below, a forward and reverse 180-degree rotation scheme around a Y-axis of a platform coordinate system is adopted, and the platform coordinate system is overlapped with the Y-axis coordinate system on the front side:
namely, the front MEMS IMU rotates around the Y axis of the front MEMS IMU, and the back MEMS IMU rotates around the X axis of the front MEMS IMURotate at a rotation angle of
Figure SMS_34
。
4) The rotation scheme is as follows: (1) the IMUs rotate 180 degrees anticlockwise to a position B by taking the position A as a starting point, and stop for t seconds; (2) the IMUs rotate 180 degrees clockwise from the position B to the position A and stop for t seconds; (3) the IMUs rotate clockwise from the position A to the position B by 180 degrees, and stop for t seconds; (4) the IMUs rotate 180 ° counter-clockwise from position B to position a, stopping t seconds.
5) Platform coordinate system
Figure SMS_35
The following gyroscopes and accelerometer measurement models were as follows:
Figure SMS_36
Figure SMS_38
and->
Figure SMS_39
Respectively->
Figure SMS_41
Measurements of tethered gyroscopes and accelerometers, < >>
Figure SMS_43
And->
Figure SMS_45
Scaling factor error matrix for gyroscope and accelerometer respectively,>
Figure SMS_47
and->
Figure SMS_48
Ideal output values for gyroscope and accelerometer, respectively,/->
Figure SMS_37
And->
Figure SMS_40
Zero bias of gyro and accelerometer respectively, < >>
Figure SMS_42
And->
Figure SMS_44
Measurement noise of gyro and accelerometer, respectively, < >>
Figure SMS_46
Is a unit matrix;
Figure SMS_49
representation->
Figure SMS_50
Is tied to->
Figure SMS_51
The following conversion matrix is expressed as follows: />
Figure SMS_52
In (1) the->
Figure SMS_53
The rotation angle of the MEMS IMUs;
Figure SMS_54
6) In order to construct a double-sided MEMS IMUs error model, subtracting the front MEMS IMU measurement model from the back MEMS IMU measurement model to obtain the double-sided MEMS IMUs error model, wherein the front and the back are respectively represented by numerals 1 and 2;
Figure SMS_55
in the method, in the process of the invention,
Figure SMS_56
and->
Figure SMS_57
Indicating gyroscope errors and accelerometer errors, respectively.
In the embodiment, two means of hardware optimization design and single-axis rotation modulation technology are comprehensively utilized, and a hardware design method of a double-sided MEMS IMU (the reverse sides of the two MEMS IMUs are bonded) is adopted, so that a printed circuit board is not needed. The X-axis of the front IMU30 coincides with the Y-axis of the back IMU40 and rotational axis direction errors can be modulated with each other during rotational modulation. The MEMS IMU measurement precision is improved by not only reducing the occupied space of the MEMS IMUs, but also avoiding the defect that the error of the single-axis rotation modulation technology in the direction of the rotation axis cannot be modulated.

Claims (3)

1. A method for modulating double-sided MEMS IMUs by uniaxial rotation, comprising the steps of:
1) 1 IMU arrays are constructed by using two IMUs with the same precision, and the two IMUs are respectively attached to the front surface and the back surface of the board card; the MEMS IMUs coordinate system is defined as follows: the front X axis faces to the right, the Y axis faces upwards, and the Z axis points to the outside of the board; the Y axis of the back face faces to the left, the X axis is upwards, and the Z axis points to the outside of the board card; the front X axis coincides with the back IMU Y axis;
2) Carrier coordinate system
Figure QLYQS_1
And platform coordinate System->
Figure QLYQS_2
Is defined as follows: definitions->
Figure QLYQS_3
The three axes are fixedly connected with the MEMS IMUs, and the directions of the three axes are coincident with the triaxial sensitive axes of the front IMUs of the double-sided MEMS IMUs; definitions->
Figure QLYQS_4
Is fixedly connected with a motor, and the included angle between the motor and the carrier on the plane during rotation is defined as a rotating machineA rotation angle of the structure;
3) In the single-axis rotation modulation system, double-sided MEMS IMUs are fixedly connected with a rotary table, the rotary table is connected with a motor below, and a rotation scheme of positive and negative 180 degrees around a Y-axis of a platform coordinate system is adopted: namely, the front MEMS IMU rotates around the Y axis of the front MEMS IMU, the back MEMS IMU rotates around the X axis of the front MEMS IMU, and the rotation angle is that
Figure QLYQS_5
；
4) The rotation scheme is as follows: (1) the IMUs rotate 180 degrees anticlockwise to a position B by taking the position A as a starting point, and stop for t seconds; (2) the IMUs rotate 180 degrees clockwise from the position B to the position A and stop for t seconds; (3) the IMUs rotate clockwise from the position A to the position B by 180 degrees, and stop for t seconds; (4) the IMUs rotate 180 degrees anticlockwise from the position B to the position A and stop t seconds;
5) Platform coordinate system
Figure QLYQS_6
The following gyroscopes and accelerometer measurement models were as follows:
Figure QLYQS_7
，
Figure QLYQS_8
and->
Figure QLYQS_10
Respectively->
Figure QLYQS_12
Measurements of tethered gyroscopes and accelerometers, < >>
Figure QLYQS_13
And->
Figure QLYQS_16
Scaling factor error matrix for gyroscope and accelerometer respectively,>
Figure QLYQS_18
and->
Figure QLYQS_19
Ideal output values for gyroscope and accelerometer, respectively,/->
Figure QLYQS_9
And->
Figure QLYQS_11
Zero bias of gyro and accelerometer respectively, < >>
Figure QLYQS_14
And->
Figure QLYQS_15
Measurement noise of gyro and accelerometer, respectively, < >>
Figure QLYQS_17
Is a unit matrix;
Figure QLYQS_20
representation->
Figure QLYQS_21
Is tied to->
Figure QLYQS_22
The following conversion matrix is expressed as follows: />
Figure QLYQS_23
In (1) the->
Figure QLYQS_24
The rotation angle of the MEMS IMUs;
Figure QLYQS_25
6) In order to construct a double-sided MEMS IMUs error model, subtracting the front MEMS IMU measurement model from the back MEMS IMU measurement model to obtain the double-sided MEMS IMUs error model, wherein the front and the back are respectively represented by numerals 1 and 2;
Figure QLYQS_26
in the method, in the process of the invention,
Figure QLYQS_27
and->
Figure QLYQS_28
Indicating gyroscope errors and accelerometer errors, respectively.
2. The dual-sided MEMS IMUs single-axis rotation modulation method of claim 1, wherein: and constructing 1 IMU array by using two IMUs with the same precision, and completely identical appearance structures of the two IMUs.
3. The dual-sided MEMS IMUs single-axis rotation modulation method of claim 1, wherein: the platform coordinate system coincides with the front Y-axis coordinate system.
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