一种有效的三轴陀螺仪标定方法
An Efficient Calibration Method for Triaxial Gyroscope
摘要：
本文提出了一种伺服电机辅助的三轴陀螺标定方法。整个校准过程只需要大约一分钟，不需要高精度的设备。该方法基于陀螺仪的测量应等于陀螺仪的旋转速度的思想。提出了一个六个观察的实验设计，以最大限度地减少估计的比例因子和偏差的方差。此外，为了降低计算复杂性，提出了一种快速收敛的递推线性最小二乘估计方法。仿真结果反映了该标定方法在正常和极端条件下的鲁棒性。我们实验证明了所提出的方法在机器人手臂上的可行性，并在微控制器上实现该方法。通过与传统的转台标定方法进行对比，验证了该方法的标定结果，实验表明两种方法的标定结果具有可比性。通过比较校准的低成本陀螺仪读数与高精度陀螺仪的读数，我们可以得出结论，我们的方法显着提高了陀螺仪的精度。
英文摘要：
This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on the idea that the measurement of the gyroscope should be equal to the rotation speed of the servomotor. A six-observation experimental design is proposed to minimize the maximum variance of the estimated scale factors and biases. In addition, a fast converging recursive linear least square estimation method is presented to reduce computational complexity. The simulation results reflect the robustness of the calibration method under normal and extreme conditions. We experimentally demonstrate the feasibility of the proposed method on a robot arm, and implement the method on a microcontroller. We verify the calibration results of the proposed method by comparing with a traditional turntable approach, and the experiment indicates that the results of these two methods are comparable. By comparing the calibrated low-cost gyroscope reading with the reading from a high-precision gyroscope, we can conclude that our method significantly increases the gyroscope's accuracy.
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