The parameter identification of the six-axis accelerometer is a difficult problem due to its higher input and output volumes and strongly coupled dynamic equations.According to this, starting with decoupling equations, a method of parameter identification was proposed, which can adapt to uncertain disturbances.By inverse transforming the coordinates of input items and combining with compatibility equations, the mapping relations between input and output items were established, and then the 13 parameter items were obtained.By defining and calculating the influence coefficient matrix, sensitive properties between input items and parameter items were derived.By separating parameters and selecting special motion models, 3 identification equations were derived, and then an identification algorithm was established.Based on the theories of operator norm, qualitative behavior of identification equations was analyzed.Research results indicate that the identification errors depend on the condition number of input matrix.Hereby, the general formula of optimal input was derived.The verification experiments show that the mathematical results are well consistent with the experimental data, and when the random disturbances are less than 1%, the maximum identification error is less than 0.88%; Further more, based on the identification value of real physical prototype, the composite error within a minute is 8.42% in the laboratory.
Key words
six-axis accelerometer /
parameter identification /
uncertain disturbance /
operator norm /
condition number
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