[1]陈杰春,丁振良,袁峰,等.MEMS惯性测量组合初始标定方法研究[J].南京理工大学学报(自然科学版),2008,(03):285-290.
 CHEN Jie-chun,DING Zhen-liang,YUAN Feng,et al.Initial Calibration of MEMS Inertial Measurement Unit[J].Journal of Nanjing University of Science and Technology,2008,(03):285-290.
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MEMS惯性测量组合初始标定方法研究
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2008年03期
页码:
285-290
栏目:
出版日期:
2008-06-30

文章信息/Info

Title:
Initial Calibration of MEMS Inertial Measurement Unit
作者:
陈杰春;丁振良;袁峰;佟庆彬;艾莉莉;
哈尔滨工业大学电气工程及自动化学院, 黑龙江哈尔滨150001
Author(s):
CHEN Jie-chunDING Zhen-liangYUAN FengTONG Qing-binAI Li-li
School of Electrical Engineering and Automation,Harbin Institute of Technology,Harbin 150001,China
关键词:
惯性测量组合 初始标定 双目三维重构 欧拉角算法
Keywords:
inertial measurement unit initial calibration binocular stereo reconstruction Euler algorithm
分类号:
TP274
摘要:
为了降低MEMS惯性测量组合(IMU)的测试成本,提出一种借助于机器视觉技术标定MEMS惯性测量组合的方法。综合考虑了3个加速度计和3个陀螺仪的标定因数、零偏误差和安装方位误差因素的影响,建立了IMU数学模型。在外力的推动下,悬挂于2个屏幕之间的IMU作不规则运动,安装在IMU上的2根准直激光束在屏幕上生成4个指示光斑。借助于双目三维重构技术测量指示光斑在世界坐标系内的坐标,然后应用欧拉角算法确定载体坐标系相对于世界坐标系的旋转角速度向量和线加速度向量。求解IMU数学模型,确定模型中的待定参数。实验结果表明:该文给出的方法可以准确测量载体坐标系相对于世界坐标系的旋转角速度向量和线加速度向量。
Abstract:
To decrease the cost of calibrating MEMS inertial measurement unit(IMU),this paper proposes an approach to calibrating MEMS IMU by means of machine vision technique.Mathematical models are derived from the three accelerometers and three rate gyros,taking into account the sensor axis misalignments,scale factors,and biases.Driven by external force,the IMU flies randomly between two screens.The collimated laser beams mounted on the plate of IMU produce four indicative spots on the screens.The coordinates of the indicative spots in the world coordinate system are measured by using binocular stereo reconstruction algorithm,and then the angular rate vector and acceleration vector of the body frame with respect to the world frame are determined by using Euler algorithm.Given this kinematics information,the calibration parameters of the mathematical models are solved by using least squares algorithm.The experimental results show that the angular rate vector and acceleration vector of the body frame with respect to the world frame can be determined accurately.

参考文献/References:

[1] 丁明理, 王祁, 洪亮. GPS与无陀螺微惯性测量单元 组合导航系统设计[ J]. 南京理工大学学报( 自然 科学版): 2005, 29( 1): 98- 101.
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[5] T sa iR Y. A versatile cam era ca libration techn ique fo r h igh??accuracy 3D m achine v ision m etro logy using off?? the??she lf TV cam eras and lenses [ J]. IEEE Journa l o f Robotics and Autom ation, 1987, 3 ( 4): 323- 344.

备注/Memo

备注/Memo:
作者简介:陈杰春(1974-),男,黑龙江宾县人,博士生,主要研究方向:计算机视觉,图像处理,惯性测试技术,E_mail:chenjiechun@sina.com;通讯作者:丁振良(1941-),男,黑龙江哈尔滨人,教授,博士生导师,主 要研究方向:几何量精密计量,光电测试,惯性测试技术等,E_mail:dingch@hit.edu.cn。
更新日期/Last Update: 2008-06-30