一种隐式结构MIMU设计及标度因数温度误差分析

高动态、恶劣温度环境的微型飞行器应用中，由温度引起的MIMU标度因数误差与结构安装误差的耦合问题非常突出，常规MIMU及其标度因数温度误差标定补偿方法不再适用。提出并设计了一种隐式结构MIMU，分析了温度对MIMU结构及标度因数的影响机理，建立了与温度二次项有关的MIMU角速度通道和加速度通道标度因数温度误差模型，并提出了“多温度点三方位正反速率和双方位正反角度”标定方法，解决了MIMU误差耦合问题。标定与补偿试验结果表明，隐式结构MIMU结构安装误差受温度影响非常小，而标度因数是与温度的二次项有关的；标度因数温度误差补偿后，MIMU角速度通道、加速度通道动态精度都得到了显著提高，验证了隐式结构MIMU设计及标定方法的有效性和优越性。

Design of structure-latent MIMU and analysis of scale factor error on the temperature

In high dynamic,extreme temperature environment applications such as micro air vehicle(MAV) ,the thermal coupling between the scale factor error and the installation error of MIMU could be very serious,and conventional MIMU and calibration method for temperature-scale factor error is no longer suitable. So a structure-latent MIMU was proposed and designed. And the causation that temperature impacts the structure and the scale factor of MIMU was analyzed. Also a scale factor-temperature error model of MIMU rotation channels and acceleration channels was established,which is related with the square of temperature. Then,a calibration method named "multi-temperature points three position of rate and two position of direction" was given to solve the problem of coupling. The calibration and compensation test results show that the installation error of structure-latent MIMU is almost free from temperature but its scale factor is related with the square of temperature. After the error compensation,the dynamic accuracy of rotation channel and acceleration channel are greatly increased. The test results also prove that the design of structure-latent MIMU and the calibration method is effective and superior.