使用卡尔曼滤波器和 Delaunay 三角测量算法进行三轴微系统校准

IF 2.4 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Applied Computational Intelligence and Soft Computing Pub Date : 2023-11-22 DOI:10.1155/2023/7658064
Anwer Sabah Ahmed, Qais Al-Gayem
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引用次数: 0

摘要

MEMS-IMU 广泛应用于科研、工业和商业领域。适当的校准技术必须减少其固有误差。本研究提出了一种基于转盘的 IMU 校准方法。在 IMU 输出的一般非线性模型中,除了失准之外,还包括偏置、杠杆臂和比例因子等参数。在校准惯性测量单元(MPU6050)三轴加速度计时,建议使用带有三角测量算法的变换无特征卡尔曼滤波器(TUKF)估算加速度计误差参数。与现有方法相比,建议的方法使用重力信号作为恒定参考,无需外部设备。该技术要求将传感器放置在一个大致的方位,并采用基本的旋转。这项技术还能提供更快、更简便的校准。将实验结果与其他工作进行比较,Allan 偏差显示偏差不稳定性有了显著改善,在温度为(-15°C)和(80°C)之间,偏差不稳定性达到了(0.116 μg)。
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Three-Axes Mems Calibration Using Kalman Filter and Delaunay Triangulation Algorithm
MEMS-IMUs are widely used in research, industry, and commerce. A proper calibration technique must reduce their innate errors. In this study, a turntable-based IMU calibration approach was presented. Parameters such as the bias, lever arm, and scale factor, in addition to misalignment, are included in the general nonlinear model of the IMU output. Accelerometer error parameters were estimated using the transformed unscented Kalman filter (TUKF) with triangulation algorithm is suggested for calibrating inertial measurement unit (MPU6050) three-axes accelerometer. In contrast to the present methods, the suggested method uses the gravitational signal as a constant reference and necessitates no external equipment. The technique requires that the sensor be positioned in a rough orientation and that basic rotations be adopted. This technology also offers a quicker and easier calibration. Comparing the experimental findings with other works, Allan deviation shows significant improvements for the bias instability, where a bias instability of (0.116 μg) is achieved at temperatures between (−15°C) and (80°C).
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来源期刊
Applied Computational Intelligence and Soft Computing
Applied Computational Intelligence and Soft Computing COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-
CiteScore
6.10
自引率
3.40%
发文量
59
审稿时长
21 weeks
期刊介绍: Applied Computational Intelligence and Soft Computing will focus on the disciplines of computer science, engineering, and mathematics. The scope of the journal includes developing applications related to all aspects of natural and social sciences by employing the technologies of computational intelligence and soft computing. The new applications of using computational intelligence and soft computing are still in development. Although computational intelligence and soft computing are established fields, the new applications of using computational intelligence and soft computing can be regarded as an emerging field, which is the focus of this journal.
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