Yaqi Li, Li Wang, Zhitao Wang, Xiangqing Li, Jiaojiao Li, Steven weidong Su
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引用次数: 0
摘要
MEMS 三轴陀螺仪的校准对于实现各种可穿戴健康监测应用的精确姿态估计至关重要。然而,与加速计和磁力计相比,陀螺仪校准面临更大的挑战。本文介绍了一种仅通过伺服电机校准 MEMS 三轴陀螺仪的高效方法,使其非常适合野外环境。该方法的核心策略是利用在固定框架中测量到的重力与旋转速度的点积保持不变这一事实。为了消除旋转离心力对加速度计的影响,加速度计数据是在静止状态下测量的。所提出的校准实验方案允许在特定旋转速度下对每个轴进行陀螺仪测量,从而更容易评估由一系列旋转速度构成的相关速度范围内的线性度。此外,仅用经典的最小二乘法就足以估算出比例因子,从而显著简化了校准过程的分析。为了分析提出的方法在校准三轴陀螺仪模型中的性能,进行了大量的数值模拟。此外,还使用市售的 MEMS 惯性测量单元(Arduino nano 33 BLE SENSE 的 LSM9DS1)和能够精确控制速度的伺服电机进行了实验验证。实验结果有效证明了所提出的校准方法的有效性。
On-site scale factor linearity calibration of MEMS triaxial gyroscopes
The calibration of MEMS triaxial gyroscopes is crucial for achieving precise
attitude estimation for various wearable health monitoring applications.
However, gyroscope calibration poses greater challenges compared to
accelerometers and magnetometers. This paper introduces an efficient method for
calibrating MEMS triaxial gyroscopes via only a servo motor, making it
well-suited for field environments. The core strategy of the method involves
utilizing the fact that the dot product of the measured gravity and the
rotational speed in a fixed frame remains constant. To eliminate the influence
of rotating centrifugal force on the accelerometer, the accelerometer data is
measured while stationary. The proposed calibration experiment scheme, which
allows gyroscopic measurements when operating each axis at a specific rotation
speed, making it easier to evaluate the linearity across a related speed range
constituted by a series of rotation speeds. Moreover, solely the classical
least squares algorithm proves adequate for estimating the scale factor,
notably streamlining the analysis of the calibration process. Extensive
numerical simulations were conducted to analyze the proposed method's
performance in calibrating a triaxial gyroscope model. Experimental validation
was also carried out using a commercially available MEMS inertial measurement
unit (LSM9DS1 from Arduino nano 33 BLE SENSE) and a servo motor capable of
controlling precise speed. The experimental results effectively demonstrate the
efficacy of the proposed calibration approach.