Wang Pengfei, Gao Yanbin, Wu Menghao, Zhang Fan, Li Guangchun
Collage of Automation, Harbin Engineering University, Harbin 150001, Ch.
Sensors (Basel). 2020 Feb 10;20(3):947. doi: 10.3390/s20030947.
Traditional calibration method is usually performed with expensive equipments suchas three-axis turntable in a laboratory environment. However in practice, in order to ensure theaccuracy and stability of the inertial navigation system (INS), it is usually necessary to recalibratethe inertial measurement unit (IMU) without external equipment in the field. In this paper, anew in-field recalibration method for triaxial accelerometer based on beetle swarm antenna search(BSAS) algorithm is proposed. Firstly, as a new intelligent optimization algorithm, BSAS algorithmand its improvements based on basic beetle antennae search (BAS) algorithm are introduced indetail. Secondly, the nonlinear mathematical model of triaxial accelerometer is established forhigher calibration accuracy, and then 24 optimal measurement positions are designed by theoreticalanalysis. In addition, the calibration procedures are improved according to the characteristics of BSASalgorithm, then 15 calibration parameters in the nonlinear method are optimized by BSAS algorithm.Besides, the results of BSAS algorithm and basic BAS algorithm are compared by simulation, whichshows the priority of BSAS algorithm in calibration field. Finally, two experiments demonstrate thatthe proposed method can achieve high precision in-field calibration without any external equipment,and meet the accuracy requirements of the INS.
传统的校准方法通常需要在实验室环境中使用如三轴转台等昂贵设备来进行。然而在实际应用中，为了确保惯性导航系统（INS）的准确性和稳定性，通常需要在现场无需外部设备的情况下对惯性测量单元（IMU）进行重新校准。本文提出了一种基于甲虫群天线搜索（BSAS）算法的三轴加速度计现场重新校准方法。首先，作为一种新的智能优化算法，详细介绍了BSAS算法及其基于基本甲虫天线搜索（BAS）算法的改进算法。其次，为了获得更高的校准精度，建立了三轴加速度计的非线性数学模型，然后通过理论分析设计了24个最佳测量位置。此外，根据BSAS算法的特点改进了校准程序，然后利用BSAS算法对非线性方法中的15个校准参数进行了优化。此外，通过仿真比较了BSAS算法和基本BAS算法的结果，这表明了BSAS算法在校准领域的优越性。最后，两个实验表明，所提出的方法无需任何外部设备即可实现高精度的现场校准，并满足INS的精度要求。
