摘  要：微惯性测试单元（MIMU）中测量组合的测量准确度直接影响姿态测试系统姿态解算的准确度，根据微惯性测量组合任意静态位置3个轴测量模值为固定值，提出一种基于椭球假设的MIMU现场快速标定方法。通过分析微惯性测量组合的误差模型，对其在不同姿态下的测量数据进行椭球拟合，快速得到全部标定参数。试验结果表明：该方法可在没有精密标定设备的条件下现场标定，操作简便、快速，准确度可以提高3个数量级，满足导航解算的准确度要求。

关键词：椭球假设；微惯性测试单元；现场标定；零偏；灵敏度；非正交

文献标志码：A       文章编号：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