利用重力与转速一致性，实现三轴陀螺仪现场高效标定
A Field Calibration Approach for Triaxial MEMS Gyroscopes Based on Gravity and Rotation Consistency
- 基于固定坐标系下重力与角速度点积恒定原理进行标定
- 通过线性最小二乘法估计尺度因子，避免非线性优化难题
- 在噪声干扰和实际设备上验证，适用于工程现场部署
本文提出一种高效的三轴MEMS陀螺仪现场标定方法。核心思路是利用固定坐标系中测量重力与角速度的点积保持不变这一特性。为消除外部加速度影响，标定过程分步测量本地重力和旋转速度。与现有自标定方法常导致非线性优化问题不同，本方法采用线性最小二乘算法简化陀螺仪尺度因子估计。通过大量数值仿真分析了该方法对六参数三轴陀螺仪模型的标定性能，考虑了含模拟噪声的测量数据。实验验证使用了两个商用MEMS惯性测量单元（LSM9DS1）和一个伺服电机。结果表明，所提方法在真实场景下有效可行。
原文摘要 · Abstract (English)
This paper developed an efficient method for calibrating triaxial MEMS gyroscopes, which can be effectively utilized in the field environment. The core strategy is to utilize the criterion that the dot product of the measured gravity and the rotation speed in a fixed frame remains constant. To eliminate the impact of external acceleration, the calibration process involves separate procedures for measuring local gravity and rotation speed. Moreover, unlike existing approaches for auto calibration of triaxial sensors that often result in nonlinear optimization problems, the proposed method simplifies the estimation of the gyroscope scale factor by employing a linear least squares algorithm. Extensive numerical simulations have been conducted to analyze the proposed method's performance in calibrating the six-parameter triaxial gyroscope model, taking into consideration measurements corrupted by simulated noise. Experimental validation was also carried out using two commercially available MEMS inertial measurement units (LSM9DS1) and a servo motor. The experimental results effectively demonstrate the efficacy of the proposed calibration approach.
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