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在全球卫星导航系统（global navigation satellite system,GNSS）/惯性导航系统（inertialnavigationsystem,INS）组合导航中，通常将惯性测量单元（inertial measurement unit, IMU）的零偏和比例因子作为待估参数，通过在线估计和反馈以提高系统的精度和性能。为分析低成本微机电系统（micro-electro-mechanicalsystem,MEMS）IMU各项误差的长时间稳定性及其对GNSS/INS组合导航系统性能的影响，本文以百元级LG69T板卡的MEMS IMU为研究对象，开展多次实验室标定试验和车载组合导航试验。结果表明，MEMS IMU的零偏、比例因子和交轴耦合误差在30天内能保持相对稳定，其中加速度计和陀螺仪的零偏值较大。在GNSS载波相位实时动态差分（real-time kinematic, RTK）/INS紧组合导航的车载试验中，先用实验室标定的交轴耦合误差项对MEMS IMU观测数据进行补偿，然后在线估计零偏和比例因子，能够提高加速度计和陀螺仪零偏参数的滤波收敛速度，改善滤波初始阶段的INS推算精度。当滤波收敛稳定后，因交轴耦合误差能被零偏和比例因子较好地吸收，补偿交轴耦合误差对组合导航系统的精度提升不明显。
Abstract：In the global navigation satellite system(GNSS)/inertial navigation system(INS) integrated system, the bias and scale factor error of the inertial measurement unit(IMU) are typically estimated online as state estimate vectors and feedback correction to the system to improve accuracy and performance. In order to evaluate the long-term stability of various errors in low-cost micro-electro-mechanical system(MEMS) IMU and their influence on the performance of GNSS/INS integrated navigation system, multiple laboratory calibration experiments and vehicular navigation experiment have been carried out on the MEMS IMU of LG69T with a hundred-yuan level in this paper. The results show that bias, scale factor error, and cross-axis coupling error of the MEMS IMU remain relatively stable within 30 days, with large bias values for the accelerometer and gyroscope. In the vehicular navigation experiment of GNSS real-time kinematic(RTK)/INS tightly-coupled navigation, the MEMS IMU observations are compensated with the laboratory-calibrated cross-axis coupling error first, and then the bias and scale factor error are estimated online, which can accelerate the converging process of the accelerometer and gyroscope bias parameter, and the accuracy of INS dead-reckoning will be improved in the initial filtering stage. When the filtering convergence stabilizes, the improvement of cross-axis coupling error compensation on the accuracy of the integrated navigation system will be less pronounced due to the effective absorption of cross-axis coupling errors by bias and scale factor error.
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基本信息:
DOI：10.14188/j.2095-6045.20240303
中图分类号:TN967.2
引用信息:
[1]赵广越,王甫红,程雨欣等.低成本MEMS IMU交轴耦合误差标定与补偿对GNSS/INS组合导航的影响分析[J].测绘地理信息,2025,50(04):35-40.DOI:10.14188/j.2095-6045.20240303.
基金信息:
国家自然科学基金（62103307,62073044）