针对传统标定方法标定时间长、转台要求高等工程实现困难的问题,提出了一种快速标定方法。该方法基于简化的惯性组件误差模型,设计了7位置转动标定编排方案,并对减振器变形引起的标定误差进行了分析,利用带温箱的转台实现组件温度补偿。试验结果表明该方法只需要30 min即可完成一组误差参数的标定,标定精度与传统方法相当。

The classical calibration takes a long calibration time and needs a high condition of turntable. To solve this problem,a rapid calibration is proposed in this paper. Based on a simplified error model of IMU, a seven-position continuous rotation scheme is designed, and calibration error by absorber deformation of this method is discussed. The temperature compensation is realized by a turntable with incubator. The experiment results indicate that it only takes about 30 minutes to complete all parameters calibration, and the accuracy is equivalent to that of classical method.