高技术通讯2011，Vol.21Issue(10)：1090-1094,5.DOI:10.3772/j.issn.1002-0470.2011.10.015
基于极大似然估计的惯性测量组合标定方法
A new method for calibration of inertial measurement units based on maximum likelihood estimation
摘要
Abstract
A new method for calibration of inertial measurement units (IMU) under the circumstances of large angle-setting errors (ASE) of test equipments or platform' s gimbals is presented in the paper. The method uses the quadratic sum of three orthogonal instruments' outputs as the observation quantity and the magnitude squares of gravitational acceleration ga and earth rate ωie as the reference to calibrate the instrument errors, which can help to eliminate the effects of angle-setting errors on the calibration results. Furthermore, an identification method based on maximum likelihood estimation ( MLE) is given for larger error coefficients. Finally the observability of error coefficients is analyzed by the simulations and the effectiveness of the proposed method are verified.关键词
惯性测量组合(IMU)/标定方法/极大似然估计(MLE)/转角误差(ASE)Key words
inertial measurement units (IMU)/ calibration method/ maximum likelihood estimation (MLE)/ angle-setting errors (ASE)引用本文复制引用
郭刚,陈才,苏宝库..基于极大似然估计的惯性测量组合标定方法[J].高技术通讯,2011,21(10):1090-1094,5.基金项目
总装备部十一五惯性技术预研(51309050702)资助项目. （51309050702）
