基于MEMS传感器的物体运动参数解算误差分析及传感器适用性研究

发布时间：2018-06-24 03:57

本文选题：MEMS传感器 + 误差分析　；参考：《中北大学》2017年硕士论文

【摘要】：MEMS传感器价格低廉、尺寸小、质量轻,在电子消费产品等领域应用广泛。但其缺点是精度低,稳定性差,限制了其应用范围。传感器本身制造工艺以及长时间的积分累积误差和陀螺漂移的存在等因素,使得MEMS传感器在测量方法精度无法满足要求。如何使用此类MEMS传感器,如何提高传感器精度及误差分析补偿是本文的主要研究目标。实验中使用的MEMS传感器是集三轴加速度计和三轴陀螺于一体、低成本和低精度的数字传感器。为初步探究传感器性能,提高传感器测量精度,运用实验加仿真的方式对比分析该问题。在完备的数字采集系统和成熟的轨迹解算方法的前提下,本文首先进行了转台画圆实验,通过描绘运动轨迹,与已知圆轨迹对比分析,初步了解该传感器的性能。用MATLAB仿真还原转台实验过程,用同样的解算方法得到了圆的轨迹。仿真结果表明了该算法是正确的;同时对比实验结果,发现该传感器无法在长时间内准确测量运动体的位置信息。在算法正确的前提下,提高传感器测量数据的准确性。对于传感器本身,由于批量化生产,厂家给出统一的技术指标。其次,论文提出对单片的加速度计的技术指标参数:零偏和标度因子进行校准和补偿,提出一种基于六姿态模型的加速度计校准方法。由于静止时重力加速度在三轴的分量即为加速度传感器各轴输出,据此原理建立误差模型,利用算法对其零偏和标度因子进行校准。经实验验证:该校准方法无需借助高精度转台等设备,就可实现加速度传感器的快速校准。相比厂家所给相关技术指标,其精度有所提高。最后,为进一步研究传感器使用时的约束条件,通过仿真的方式,从理论角度分别分析加速度计的零偏和灵敏度系数对测量结果的影响,并进行误差分析从而确定传感器使用约束条件。
[Abstract]:MEMS sensors are widely used in electronic consumer products due to their low price, small size and light weight. However, its shortcomings are low precision and poor stability, which limits its application range. The fabrication process of the sensor itself, the accumulation error of integration for a long time and the existence of gyroscope drift make the precision of MEMS sensor unable to meet the requirements of the measurement method. How to use this kind of MEMS sensors, how to improve the accuracy of sensors and how to compensate for errors are the main research objectives of this paper. The MEMS sensor used in the experiment is a low cost and low precision digital sensor which integrates triaxial accelerometer and triaxial gyroscope. In order to explore the performance of the sensor and improve the precision of the sensor, the experiment and simulation are used to analyze the problem. On the premise of a complete digital acquisition system and a mature trajectory calculation method, this paper firstly carries out a circle drawing experiment on the turntable. By describing the motion trajectory and comparing it with the known circular trajectory, the performance of the sensor is preliminarily understood. The experiment process of restoring turntable is simulated by MATLAB, and the circular track is obtained by the same calculation method. The simulation results show that the algorithm is correct, and the experimental results show that the sensor can not accurately measure the position information of the moving body in a long time. On the premise of correct algorithm, the accuracy of sensor measurement data is improved. For the sensor itself, due to mass production, manufacturers give the unified technical indicators. Secondly, this paper presents the calibration and compensation of the technical parameters of monolithic accelerometers: zero-offset and scaling factors, and proposes a calibration method based on six-attitude model for accelerometers. Since the three-axis component of gravity acceleration at rest is the output of each axis of the acceleration sensor, the error model is established based on the principle, and its zero offset and scaling factor are calibrated by the algorithm. The experimental results show that this method can realize the rapid calibration of acceleration sensor without the help of high precision turntable and other equipment. Compared with the manufacturers to the relevant technical indicators, its accuracy has been improved. Finally, in order to further study the constraint conditions when the sensor is used, the effects of zero bias and sensitivity coefficient of accelerometer on the measurement results are analyzed theoretically by simulation. And error analysis is carried out to determine the use of the sensor constraints.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212

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