Inertial measurement unit calibration method based on Stewart platform

Abstract

The invention discloses an inertial measurement unit calibration method based on a Stewart platform. The inertial measurement unit composed of a three-axial acceleration sensor and a three-axial angle sensor is fastened to the center position of a moving plane of the Stewart platform; the Stewart platform is controlled to generate linear vibration with different frequencies and amplitudes in the X direction, the Y direction and the Z direction, and excitation acceleration is provided for the triaxial acceleration sensor; the Stewart platform is controlled to generate angular vibrations with different frequencies and amplitudes around the X direction, the Y direction and the Z direction respectively, and excitation angles are provided for the triaxial angle sensor. Acquiring an output signal of the inertial measurement unit by using data acquisition equipment, and processing the signal; inertial measurement unit calibration based on the Stewart platform is realized by combining an excitation signal measured by a machine vision method and an output signal processing result acquired by data acquisition equipment. Compared with the existing method, the method can complete calibration without repeatedly installing the inertial measurement unit, and has the advantages of flexibility, simplicity, high efficiency and the like.

Description

technical field [0001] The invention belongs to the field of vibration measurement and testing, and more specifically relates to a calibration method of an inertial measurement unit based on platform motion. Background technique [0002] The Stewart platform has been widely used in aviation, aerospace, deep sea exploration and other industries due to its advantages such as high rigidity, no accumulation of position errors, and the ability to generate a variety of high-precision compound motions. The inertial measurement unit is a device for measuring the position and attitude of a moving object, and its interior is mainly composed of three uniaxial acceleration sensors and three axial angle sensors. The inertial measurement unit is the core device of the inertial navigation system. It is widely used in military fields such as aerospace and civil fields such as unmanned driving technology and smart phones. Its performance directly determines the accuracy of navigation. Tradi...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the deficiencies such as poor flexibility and human interference in traditional IMU calibration methods, the present invention provides an efficient, flexible IMU calibration method based on the Stewart platform that does not require multiple repeated installations, including the following steps:

Images