Aiming at the current field calibration method of miniature inertial measurement unit(MIMU),which has the problems of complicated calibration steps and unfavourable operation for non-professionals,a field calibration method of MIMU based on the prior knowledge enhancement adaptive north goshawk optimization(PE-ANGO)algorithm is proposed.Firstly,the errors involved in MIMU are analysed and the objective functions of accelerometers and gyroscopes are established,and then the PE-ANGO algorithm is used to solve the objective functions and obtain the optimal parameters.In order to make the calibration easy to operate in the field,a handheld MIMU for sensor data acquisition is introduced to validate the proposed algorithm.Simulation results show that the calibration accuracy of the PE-ANGO algorithm is improved by one order of magnitude compared with the Northern Goshawk optimisation algorithm.The measured experiments show that before and after calibration,the suppression effect on the cumulative errors of pitch angle and roll angle is improved by 89%and 87%,respectively.Compared with the traditional calibration method,the suppression effect on the cumulative errors of pitch angle and roll angle is improved by 71%and 68%,respectively,which verifies the effectiveness of the proposed method.
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