利用Vicon系统进行IMU标定

针对传统IMU标定方法操作复杂、过于依赖转台的问题，本文提出了一种利用Vicon系统进行IMU标定的方法。首先，利用预积分技术将IMU数据与Vicon数据融合，得到IMU残差；然后，将Vicon相邻帧间的状态量相减，得到Vicon残差；最后，将IMU残差和Vicon残差放到同一个状态向量中，并引入边缘化先验信息，建立非线性优化函数，求解得到陀螺仪和加速度计的零偏估计参数。同时本文设计EuRoc数据集测试试验和室内定位对比试验，结果表明，该方法对IMU的标定结果优于传统方法的标定结果，具有更高的精度。

IMU calibration using Vicon system

Aiming at the problem that the traditional IMU calibration method is complicated to operate and relies too much on the turntable, an IMU calibration method for Vicon system is proposed. Firstly, the pre-integration technique is used to fuse the IMU data with the Vicon data to obtain the IMU residual. Then, the state quantity between the adjacent frames of Vicon is subtracted to obtain the Vicon residual. Finally, the IMU residual and the Vicon residual are put into the same state vector, and the marginal prior information is introduced to establish a nonlinear optimization function, and the zero offset estimation parameters of the gyroscope and accelerometer are obtained by solving.In the meantime, the EuRoc data set test experiment and indoor positioning comparison experiment are designed. The experimental results show that the calibration result of this method for IMU has higher accuracy whichis much better than that of the traditional method.