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High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable

A heading reference system and accelerometer technology, applied in the direction of speed/acceleration/shock measurement, testing/calibration of speed/acceleration/shock measurement equipment, instruments, etc., to achieve the effect of reducing calibration conditions and improving calibration accuracy

Inactive Publication Date: 2012-08-15
INST OF MICROELECTRONICS CHINESE ACAD OF SCI
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Problems solved by technology

[0006] In view of this, the main purpose of the present invention is to provide a high-precision calibration method for the accelerometer in the attitude reference system without the turntable, to solve the problem of accurately calibrating the accelerometer without the turntable

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  • High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable
  • High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable
  • High-precision calibration method for accelerometers in AHRS (attitude and heading reference system) without using turntable

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[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0039] The principle of the present invention is: when the AHRS is stationary and the X-axis is upward, the error equation of the accelerometer is as follows:

[0040] g=B x +S x V x1 +E xy V y1 +E xz V z1

[0041] 0=B y +E yx V x1 +S y V y1 +E yz V z1

[0042] 0=B z +E zx V x1 +E zy V y1 +S z V z1

[0043] The subscript "1" in the formula indicates the first position, that is, the X-axis is vertical to the desktop upwards. For the 2nd to 6th positions (X-axis down, Y-axis up, Y-axis down, Z-axis up and Z-axis down 5 positions), according to the above method, 3 equations can be established for each position, In this way, for each accelerometer, there are a total of four unknown model parameters, bu...

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Abstract

The invention discloses a high-precision calibration method for accelerometers in an AHRS (attitude and heading reference system) without using a turntable, which gives a high-precision calibration method for sensor accelerometers in an AHRS under the condition of without a turntable but only with the aid of a horizontal desktop. According to the invention, the calibration of coefficients such as zero-offset, scale factors, installation errors and the likes of an accelerometer can be completed just by using a horizontal desktop without using other auxiliary equipment. The method disclosed by the invention has the biggest advantage that the method is implemented without the aid of the turntable; and the method is high in precision and simple in operation, and greatly improves the efficiency of calibration under the condition of not affecting the precision of the AHRS.

Description

technical field [0001] The invention relates to a high-precision calibration method for the error coefficient of an accelerometer in a heading attitude reference system without a turntable. Of course, a separate accelerometer can also be calibrated separately, and it can also be used for the calibration of the accelerometer in an IMU. Background technique [0002] The Attitude Heading Reference System (AHRS) includes a series of three-axis sensors (accelerometers, gyroscopes, and magnetometers), which can provide the aircraft's attitude, that is, attitude angle and yaw angle information. AHRS is used to replace traditional mechanical gyro flight instruments and provides superior reliability and accuracy. AHRS also includes an online processing system, which receives the sensor output information from the three axes, processes through a series of calculations, filtering, etc., and finally outputs the attitude angle and yaw angle of the aircraft. [0003] The error of each se...

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Application Information

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IPC IPC(8): G01P21/00
Inventor 陈剑孙金海李金海阎跃鹏
Owner INST OF MICROELECTRONICS CHINESE ACAD OF SCI
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