MEMS三轴陀螺仪的现场标度因数线性度校准
On-site scale factor linearity calibration of MEMS triaxial gyroscopes
AI总结：
本文提出一种仅需伺服电机的MEMS三轴陀螺仪现场校准方法，利用重力与转速点积恒定原理，结合静止加速度计测量和最小二乘估计标度因数，并通过仿真与实验验证了其有效性。
摘要：
MEMS三轴陀螺仪的校准对于在各种可穿戴健康监测应用中实现精确姿态估计至关重要。然而，与加速度计和磁力计相比，陀螺仪校准面临更大的挑战。本文提出了一种仅通过伺服电机即可高效校准MEMS三轴陀螺仪的方法，使其非常适合现场环境。该方法的核心策略是利用以下事实：在固定坐标系中，所测重力与旋转速度的点积保持恒定。为消除旋转离心力对加速度计的影响，加速度计数据在静止状态下测量。所提出的校准实验方案允许在每个轴以特定旋转速度运行时进行陀螺仪测量，从而更容易评估由一系列旋转速度构成的相关速度范围内的线性度。此外，仅使用经典最小二乘算法就足以估计标度因数，显著简化了校准过程的分析。进行了大量数值仿真，以分析所提方法在校准三轴陀螺仪模型中的性能。还使用商用MEMS惯性测量单元（Arduino nano 33 BLE SENSE中的LSM9DS1）和能够控制精确速度的伺服电机进行了实验验证。实验结果有效证明了所提校准方法的有效性。
英文摘要：
The calibration of MEMS triaxial gyroscopes is crucial for achieving precise attitude estimation for various wearable health monitoring applications. However, gyroscope calibration poses greater challenges compared to accelerometers and magnetometers. This paper introduces an efficient method for calibrating MEMS triaxial gyroscopes via only a servo motor, making it well-suited for field environments. The core strategy of the method involves utilizing the fact that the dot product of the measured gravity and the rotational speed in a fixed frame remains constant. To eliminate the influence of rotating centrifugal force on the accelerometer, the accelerometer data is measured while stationary. The proposed calibration experiment scheme, which allows gyroscopic measurements when operating each axis at a specific rotation speed, making it easier to evaluate the linearity across a related speed range constituted by a series of rotation speeds. Moreover, solely the classical least squares algorithm proves adequate for estimating the scale factor, notably streamlining the analysis of the calibration process. Extensive numerical simulations were conducted to analyze the proposed method's performance in calibrating a triaxial gyroscope model. Experimental validation was also carried out using a commercially available MEMS inertial measurement unit (LSM9DS1 from Arduino nano 33 BLE SENSE) and a servo motor capable of controlling precise speed. The experimental results effectively demonstrate the efficacy of the proposed calibration approach.
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