| 引用本文: | 陆欣,刘 忠,张宏欣,等.三轴MEMS加速度计的最大似然校正算法.[J].国防科技大学学报,2017,39(5):185-191.[点击复制] |
| LU Xin,LIU Zhong,ZHANG Hongxin,et al.Maximum likelihood calibration for MEMS triaxial accelerometer[J].Journal of National University of Defense Technology,2017,39(5):185-191[点击复制] |
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| 三轴MEMS加速度计的最大似然校正算法 |
| 陆欣1, 刘 忠1, 张宏欣2, 贺静波1 |
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(1. 海军工程大学 电子工程学院， 湖北 武汉 430033;2. 海军工程大学 兵器工程系， 湖北 武汉 430033)
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| 摘要: |
| 加速度计是惯性导航系统的重要测量元件，而由于制造工艺及各类传感器误差，低成本加速度计很难达到要求的精度, 因此需要对其进行校正。提出一种基于最大似然估计的加速度计自校正算法。综合考虑加速度计零偏、比例误差、非正交误差、安装误差与测量噪声, 建立了传感器误差模型。在此基础上, 将加速度校正问题转化为校正参数的最大似然估计问题。通过数值仿真和实测试验验证, 表明算法具有较高的参数估计精度, 能够有效地对上述因素引起的误差进行校正。 |
| 关键词: 最大似然估计 传感器校正 微电子机械系统 三轴加速度计 |
| DOI：10.11887/j.cn.201705029 |
| 投稿日期：2016-05-19 |
| 基金项目:国家部委基金资助项目(9140A01010415JB11002) |
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| Maximum likelihood calibration for MEMS triaxial accelerometer |
| LU Xin1, LIU Zhong1, ZHANG Hongxin2, HE Jingbo1 |
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(1. College of Electronic Engineering, Naval University of Engineering, Wuhan 430033, China;2. Department of Weapon Engineering, Naval University of Engineering, Wuhan 430033, China)
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| Abstract: |
| Accelerometer is one of the fundamental measurement units of inertial navigation system. It is difficult to meet the precision requirement for low-cost accelerometer due to the manufacturing process and all kinds of sensor errors. Calibration for accelerometer is essential before being used. Therefore, an accelerometer self-calibration algorithm based on maximum likelihood estimation was proposed. The sensor errors model was established by taking comprehensive consideration of zero bias, scale errors, non-orthogonal errors, installation errors and measurement noise of the accelerometer, based on which the calibration problem of accelerometer was transformed into maximum likelihood estimation problem of calibration parameters. The self-calibration algorithm based on maximum likelihood estimation was tested by both numerical simulation and real data experiment. The result shows the maximum likelihood estimation algorithm has a high precision of parameters estimation and can calibrate the errors caused by factors mentioned above effectively. |
| Keywords: maximum likelihood estimation sensor calibration micro-electromechanical system triaxial accelerometer |
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