Improved Turntable-free MIMU Error Calibration Algorithm Based on Genetic Method
DONG Qianhui1,SUN Qian2,LI Kun1,LI Weiyi3#br#
1. College of Physics and Optoelectronic Engineering, Harbin Engineering University, Harbin 150001, China; 2. College ofInforation and Communication Engineering, Harbin Institute of Technology, Harbin 150001, China;3. College of Power and
Einergy Engineering, Harbin Eingineering University, Harbin 150001, China
Abstract: In order to solve the problems of complicated procedures and expensive turtable equipment in thetraditional high-precision calibration of the Micro Inertial Measurement Unit ( MI MU),a novel turntable-freeMI MU error calibration algorithm based on the genetic method is proposed.In this algorithm,the wavelet noisereduction method is used to preprocess the random noise of the MI MU measurements,the muli-position rotationscheme is designed to excite the Ml MU errors,and then the M MU error function is constructed,which is usedas the objective function in the genetic algorithm.Based on this,the MI MU error parameters are effectivelyidentified by searching and optimizing the objective function.Compared with traditional high-precision turtablecalibration algorithms,the proposed algorithm does not require expensive test equipment and the calibrationprocess is much simpler. Simulation results show that the proposed algorithm is both effective and feasible inachieving high-precision error calibration for the MIMU. This study provides a referenee for the application andresearch of low-cost inertial navigation systems while also fostering students' ability to conduct independentscientifie research.
