摘  要：微慣性測試單元（MIMU）中測量組合的測量準確度直接影響姿態測試系統姿態解算的準確度，根據微慣性測量組合任意靜態位置3個軸測量模值為固定值，提出一種基于橢球假設的MIMU現場快速標定方法。通過分析微慣性測量組合的誤差模型，對其在不同姿態下的測量數據進行橢球擬合，快速得到全部標定參數。試驗結果表明：該方法可在沒有精密標定設備的條件下現場標定，操作簡便、快速，準確度可以提高3個數量級，滿足導航解算的準確度要求。

關鍵詞：橢球假設；微慣性測試單元；現場標定；零偏；靈敏度；非正交

文獻標志碼：A       文章編號：1674-5124（2015）12-0025-03

Field calibration of MIMU based on ellipsoid hypothesis

ZHAI Zixiong， ZHANG Pizhuang， ZHANG Yulin

（Key Laboratory of Instrumentation Science & Dynamic Measurement of Ministry of Education，

North University of China，Taiyuan 030051，China）

Abstract: Whether a measurement unit in MIMU is measured accurately can directly affect the attitude calculation of an attitude testing system. So， it is important to calibrate the measurement units quickly and accurately. A MIMU field fast calibration method has hence been proposed based on ellipsoid hypothesis and a fixed value-three axis measurement mode data in any static position. In line with the analytical results of a MIMU error model， all the calibration parameters were obtained via ellipsoid fitting of the measurement data acquired in different postures. Experimental results show that this simple and rapid field calibration method can be used in the environment without precision calibration to improve the MIMU accuracy by 3 magnitudes， thus satisfying the accuracy requirement of navigation calculation.

Keywords: ellipsoid hypothesis； MIMU； field calibration； zero bias； sensitivity； non-orthogonal