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《Chinese Journal of Scientific Instrument》 2013-06
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Triaxial gyroscope fast calibration method based on ellipsoid fitting

Long Dafeng,Liu Jun,Zhang Xiaoming,Li Jie(Science and Technology on Electronic Test & Measurement Laboratory,North University of China;Key Laboratory of Instrumentation Science & Dynamic Measurement,Ministry of Education,North University of China,Taiyuan 030051,China)  
Gyroscope is the core device in inertial navigation system,which directly influences the attitude solution accuracy of the inertial navigation system.So it is very important to calibrate the gyroscope accurately and rapidly.At present,the position and speed calibration methods adopted by gyroscope have the problems of strict test condition,requiring precision calibration test equipment and high-precision north reference,as well as long calibration time.In this paper,on the basis of analyzing the error model of three axis gyroscope,a triaxial gyroscope fast calibration method based on ellipsoid fitting algorithm is proposed.Through fast ellipsoid fitting on the measurement data of three-axis gyroscope acquired in different postures for the same angular velocity vector,this method can fast calibrate the static errors of three-axis gyroscope,such as bias,sensitivity and non-orthogonality errors,and then compensate the measurement data of the angular velocity vector;as a result,the accuracy of the measurement results is improved.The experiment results show that this method can effectively improve the measurement accuracy of three axis gyroscope.
【Fund】: 国家自然科学基金(61004127 50905169);; 山西省研究生优秀创新基金(20123091)资助项目
【CateGory Index】: TN966
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