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对微型惯性测量组合 (MIMU)的系统标定技术进行了研究 ,利用加速度计的静态输出 ,得出了初始安装角误差、零位偏差及标度因子的计算方法 ,详细介绍了各参数的测量原理及计算公式。从实际应用的角度出发 ,对加速度计零偏的实时计算方法、基座初始水平偏差的影响及横向灵敏度的影响进行了分析 ,得出了相应的数学模型及修正算法。在此基础上进行了一定距离姿态及位置测量试验 ,给出了试验结果。试验结果表明 ,位置测量精度可提高到 1～ 2 cm ;初始位置实时标定可得到与单独标定及预调整近似的结果
The system calibration technology of MIMU is studied. By using the static output of accelerometer, the calculation method of initial installation angle error, zero deviation and scale factor is obtained. The measuring principle of each parameter is introduced in detail. And calculation formula. Based on practical application, the real-time calculation method of zero bias of accelerometer, the influence of initial horizontal deviation of base and the influence of lateral sensitivity are analyzed, and the corresponding mathematical models and correction algorithms are obtained. Based on this, some distance attitude and position measurement experiments are carried out, and the test results are given. The experimental results show that the accuracy of the position measurement can be increased to 1 ~ 2 cm. The calibration of the initial position can be compared with the single calibration and the pre-adjustment approximation