METHOD AND DEVICE FOR CALIBRATION OF INERTIAL MEASUREMENT MODULES Russian patent published in 2016 - IPC G01P21/00 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measurement equipment and can be used for calibration of inertial measurement modules (IMM), which include angular velocity sensors and accelerometers. Method of calibrating IMM includes installation of IMM with a unit of recording information on a platform of a device for calibration, providing setting of angular velocity by a motor around three approximately orthogonal axes (deviation from orthogonality shall not exceed 5°), associated with IMM, rotating IMM around approximately horizontal axis (deviation axis of rotation from horizontal plane shall not exceed 20°) with variable angular velocities and identification of mathematical models of errors of sensors of IMM. Rotation around three approximately orthogonal axes of coordinate system, associated with IMM, is performed after single mounting of IMM on platform of device, and evaluation of components of both models of angular velocity sensor error, and models of accelerometer errors is carried out based on comparison of turning angles of IMM based on readings of accelerometers and angular velocity sensor as a result of a single cycle of calibration movements. Recorded data of inertial sensors are used for identification of mathematical models of IMM sensor errors, in particular permanent components of zero signals and errors of scaling coefficients of angular velocity sensors and accelerometers, deviation angles of IMM measurement axes from rotation axis of device for calibration and coefficients of g-sensitivity of angular velocity sensors. Device which implements present method comprises a motor, which rotates an external frame of a gimbal suspension, fixing device of internal frame, which enables to establish in certain angular positions internal frame of gimbal suspension relative to external frame, platform fixing device, which enables to establish platform in certain angular positions relative to internal frame of gimbal suspension. Tested IMM is placed on platform of device with an information recording device. Platform of device may be equipped with a wireless information transmission interface.

EFFECT: broader functional capabilities.

3 cl, 3 dwg