A cross product calibration method for micro-electro mechanical system gyroscope in unmanned aerial vehicle attitude determination system

Wang Yongjun; Li Zhi; Li Xiang

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A cross product calibration method for micro-electro mechanical system gyroscope in unmanned aerial vehicle attitude determination system

机译：无人机姿态测定系统中微电机械系统陀螺仪的交叉产品校准方法

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摘要

This paper presents a novel calibration method for micro-electro mechanical system gyroscope in attitude measurement system of small rotor unmanned aerial vehicles. This method is based on an observation vector and its cross product, which is especially valuable for the in-field calibration without the aid of external equipment. By analysing the error model of the tri-axial gyroscope, the principle of calibration is proposed. Compared with other algorithms, numerical simulations are performed to evaluate the effectiveness of integral form of the cross product calibration method. Experiment on the hex-rotor unmanned aerial vehicle platform shows that the proposed method has great advantages in low-cost integrated navigation system.

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来源
《Measurement and Control: Journal of the Institute of Measurement and Control》 |2020年第10期|共8页
作者
Wang Yongjun; Li Zhi; Li Xiang;
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作者单位

Guilin Univ Elect Technol Guangxi Key Lab Automat Detecting Technol &

Instr Guilin 541004 Peoples R China;

Guilin Univ Elect Technol Guangxi Key Lab Automat Detecting Technol &

Instr Guilin 541004 Peoples R China;

Guilin Univ Aerosp Technol Key Lab Unmanned Aerial Vehicle Telemetry Guilin 541004 Peoples R China;

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原文格式 PDF
正文语种 eng
中图分类仪器、仪表;
关键词
Micro-electro mechanical system gyroscope; in-field calibration; cross product calibration; observation vector; integrated navigation system;

机译：微电器机械系统陀螺;现场校准;交叉产品校准;观察矢量;集成导航系统;

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A cross product calibration method for micro-electro mechanical system gyroscope in unmanned aerial vehicle attitude determination system

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