Rotation matrix-based calibration algorithm for installation errors of MEMS-IMU sensors
In order to address the influence of installation errors of micro-electro mechanical systems inertial measurement unit(MEMS-IMU)sensors on measurement results,this paper proposes an installation error calibra-tion algorithm based on rotation matrix to improve the accuracy of angle measurement in the presence of signifi-cant installation error.First,a mathematical model of the installation error between the inclinometer and the mea-sured object is established based on the rotation matrix and coordinate transformation.The installation error's im-pact is simulated by use of ideal IMU data(i.e.,in the raw IMU data there is no noise,no zero offset or other inter-ferences),and the effect of installation errors on attitude measurement is analyzed.Then,a calibration algorithm is designed for this error model.Finally,the rudder surface measurement of large aircraft is used as the application scenario;the environment of aircraft rudder surface during attitude measurement is simulated by three-axis preci-sion turntable,and the original MEMS-IMU data is acquired to verify the accuracy of the error calibration algo-rithm.Experimental results show that the attitude error of the MEMS-IMU sensor in the continuous measurement of pitch angle and roll angle is within 0.1°after the error calibration algorithm is applied.
万方数据
维普
