Optimal Calibration Algorithm of Accelerometer Based on Improved Levenberg Marquardt
Aiming at the issues of fixed errors and random errors in the inertial measurement unit of combination navigation technology,a measurement model for the accelerometer sensor has been established by analyzing the error sources of the inertial accelerometer,and a highly efficient calibration algorithm based on improved Levenberg Marquardt is further proposed.The algorithm only requires manually rotating the inertial measurement unit(IMU)to multiple stable attitudes for calibration;with gravity acceleration as a reference,a cost function based on calibration errors is designed,and the optimal error parameters are obtained through the improved Levenberg Marquardt algorithm.Compared to traditional calibration methods,this algorithm does not require strict horizontal surfaces or expensive calibration turntables,thus saving equipment costs.Experimental data comparisons shows that the accuracy of the BMI055 calibrated using this algorithm is higher than that of the higher-specification BMI088 in the same series,and the accuracy of three-axis acceleration measurement is improved by over 70%,which demonstrates the feasibility of this algorithm is excellent.
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