Triaxial MEMS gyroscope combined inertial measurement unit calibration method

• Main Authors: LIN MENGNA, LIU LEI, WANG KANG, CHEN ANSHENG, XU CHAO, HOU FENGXIA, YUAN SHUBO
• Format: Patent
• Language: Chinese; English
• Published: 11.01.2022
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a triaxial MEMS (micro-electromechanical system) gyroscope combined inertial measurement unit calibration method, which comprises the following steps of: acquiring gyroscope pulse number output of a triaxial MEMS gyroscope combined inertial measurement unit at six different positions at a plurality of different temperatures, and the gyroscope pulse number output when the X axis, the Y axis and the Z axis of the triaxial MEMS gyroscope combined inertial measurement unit respectively point to the sky at a plurality of different temperatures; acquiring scale factors and installation errors of the x gyroscope, the y gyroscope and the z gyroscope at each temperature; acquiring zero offsets of the x gyroscope, the y gyroscope and the z gyroscope at each temperature; acquiring scale factors, zero offset and installation errors of the x gyroscope, the y gyroscope and the z gyroscope after temperature compensation; and performing compensation calculation on the system pulse number output of the