This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on the idea that the measurement of the gyroscope should be equal to the rotation speed of the servomotor. A six-observation experimental design is proposed to minimize the maximum variance of the estimated scale factors and biases. In addition, a fast converging recursive linear least square estimation method is presented to reduce computational complexity. The simulation results reflect the robustness of the calibration method under normal and extreme conditions. We experimentally demonstrate the feasibility of the proposed method on a robot arm, and implement the method on a microcontroller. We verify the calibration results of the proposed method by comparing with a traditional turntable approach, and the experiment indicates that the results of these two methods are comparable. By comparing the calibrated low-cost gyroscope reading with the reading from a high-precision gyroscope, we can conclude that our method significantly increases the gyroscope’s accuracy.

中文翻译：

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一种高效的三轴陀螺仪标定方法


本文提出了一种高效的三轴陀螺仪伺服电机辅助校准方法。整个校准过程只需要大约一分钟，并且不需要高精度设备。该方法基于陀螺仪的测量值应等于伺服电机的转速的思想。提出了六观察实验设计，以最小化估计比例因子和偏差的最大方差。此外，提出了一种快速收敛的递归线性最小二乘估计方法来降低计算复杂度。仿真结果反映了标定方法在正常和极端条件下的鲁棒性。我们通过实验证明了该方法在机器人手臂上的可行性，并在微控制器上实现了该方法。我们通过与传统转台方法的比较验证了该方法的标定结果，实验表明两种方法的结果具有可比性。通过将校准的低成本陀螺仪读数与高精度陀螺仪读数进行比较，我们可以得出结论，我们的方法显着提高了陀螺仪的精度。