This paper developed an efficient method for calibrating triaxial MEMS gyroscopes, which can be effectively utilized in the field environment. The core strategy is to utilize the criterion that the dot product of the measured gravity and the rotation speed in a fixed frame remains constant. To eliminate the impact of external acceleration, the calibration process involves separate procedures for measuring local gravity and rotation speed. Moreover, unlike existing approaches for auto calibration of triaxial sensors that often result in nonlinear optimization problems, the proposed method simplifies the estimation of the gyroscope scale factor by employing a linear least squares algorithm. Extensive numerical simulations have been conducted to analyze the proposed method's performance in calibrating the six-parameter triaxial gyroscope model, taking into consideration measurements corrupted by simulated noise. Experimental validation was also carried out using two commercially available MEMS inertial measurement units (LSM9DS1) and a servo motor. The experimental results effectively demonstrate the efficacy of the proposed calibration approach.

翻译：本文提出了一种适用于现场环境的高效三轴MEMS陀螺仪标定方法。其核心策略是利用固定坐标系下实测重力与旋转角速度的点积保持恒定这一准则。为消除外部加速度的影响，标定过程包含分别测量局部重力与旋转角速度的独立步骤。此外，与现有三轴传感器自标定方法常导致非线性优化问题不同，本方法通过采用线性最小二乘算法简化了陀螺仪比例因子的估计。通过大量数值仿真，分析了该方法在校准六参数三轴陀螺仪模型时的性能，并考虑了模拟噪声对测量的影响。同时，使用两个商用MEMS惯性测量单元（LSM9DS1）和一个伺服电机进行了实验验证。实验结果有效证明了所提标定方法的有效性。