Research On Calibration And Error Compensation Technology Of MIUM

Micromechanical inertial devices (Silicon micromechanical gyroscope and capacitive accelerometer) have a broad application in both navigation and smart ammunition for their advantages such as small size, low cost, high level of integration and ability of resistance overload. At present, one of the effective methods to improve the performance is calibration and compensation.In this dissertation, firstly, based on silicon micromechanical gyroscope and accelerometer, the mechanisms of the temperature error and noise have been analyzed. Also, the parameter evaluation experiments have been done, based domestic inertial devices. The research builds the foundation for modeling and compensation, also the experiments give data support.After that, heat transfer and temperature hysteresis have been analyzed. Because of the different temperature characteristic between gyroscope and accelerometer, different calibration experiments have been implemented. High order model of one variable has been used to compensation temperature drift of gyroscope. Nonlinear model and BP artificial neural network have been used to compensation temperature drift of accelerometer. After compensation, gyroscope’s bias temperature coefficient was0.19°/h/℃, and accelerometer’s bias temperature coefficient was0.046mg/℃Then, research of inertial device random error has been done. In the research, inertial device’s random noise has been seen as a random process. Power spectrum density (PSD) and Allan variance were selected as the methods to evaluate random error. Support vector machine (SVM) which was in data mining theory has been applied into modeling. After compensation, gyroscope’s bias instability increased65.7%and accelerometer’s bias instability increased52.8%.Finally, install error and center distance error have been discussed, which could not be avoided during building MIMU. Install error model has been established. Based on turntable, calibration experiment has been implemented. Parameters got in the experiment have been used to decouple. In a redundant configuration MIMU, accelerometer center error model has been established. Calibration experiment was completed in the centrifuge. The result could meet the precision requirement of high rotating speed measurement.