低成本惯性MEMS单元环境效应的误差建模与表征

Y. Yuksel, N. El-Sheimy, A. Noureldin
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引用次数: 41

摘要

基于MEMS的惯性传感器误差的精确建模是低成本导航系统设计中最具挑战性的任务之一。虽然惯性导航系统的设计过程主要取决于传感器模型参数,但目前还没有一个标准的误差表征程序。在本研究的第一部分,我们提出了一种基于MEMS的多imu系统稳定性误差建模的新方法。该方法利用低通滤波传感器输出的相关性推导出传感器误差模型。在第二部分中,使用一系列实验室测试结果分析了i)温度、ii)时间和iii) G和振动对MEMS单元输出的影响。对温度变化影响的补偿方法和剩余补偿误差的建模进行了说明。利用本文提出的方法获得的更好的传感器模型将导致使用低成本MEMS单元的更鲁棒的导航系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Error modeling and characterization of environmental effects for low cost inertial MEMS units
The accurate modeling of MEMS based inertial sensor errors is one of the most challenging tasks in the design of low cost navigation systems. Although the design process of inertial navigation systems mainly depends on the sensor model parameters, a standard procedure for error characterization has yet to be developed. In the first part of this study we present a new method of stability error modeling for MEMS based multi-IMU systems. The developed method uses correlation of low pass filtered sensor outputs to derive sensor error models. In the second part the effects of i) temperature ii) time and iii) G and vibration on MEMS units' outputs are analyzed using a series of laboratory test results. A method compensating for the effect of temperature variation and modeling for residual compensation error is also explained. Better sensor models obtained with the methods presented in this paper will lead to more robust navigation systems with low cost MEMS units.
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