《智能传感器装调与测试（双语）》课件-22.IMU工作原理

IMU工作原理WorkingPrincipleofInertialMeasurementUnits(IMUs)PART01IMU：车辆的平衡感与运动神经IMUs:AVehicle'sSenseofBalanceandMotorNervesIMU车载作用：感知转弯、倾斜与加速On-boardIMUFunctions:SensingTurning,Tilting,andAccelerationIMU的比喻定位MetaphoricaldefinitionofIMUsIMU如同车辆的平衡感与运动神经，能够实时感知车辆的转弯、倾斜和加速等运动状态，是车辆感知自身动态的核心部件。

IMUsarelikethesenseofbalanceandmotornervesofavehicle.Theycanperceivethevehicle'sturning,tilting,acceleration,andothermotionstatusinrealtime.Theyarethecorecomponentsforthevehicletoperceiveitsownmotiondynamics.关键运动状态感知CriticalmotionstatusperceptionIMU能够精准捕捉车辆在三维空间中的运动变化，包括横向侧移、纵向加速度以及垂直颠簸，确保车辆在各种路况下都能保持稳定。

IMUscanaccuratelycapturethemotionchangesofvehiclesinthree-dimensionalspace,includinglateraldisplacement,longitudinalacceleration,andverticalbumps,ensuringthatthevehiclecanremainstableundervariousroadconditions.典型应用场景TypicalapplicationscenariosIMU广泛应用于自动驾驶定位、车身稳定控制（ESP）和自动泊车等场景，为智能汽车的安全与精准控制提供关键支持。IMUsarewidelyusedinscenariossuchasautonomousdrivingpositioning,vehiclebodystabilitycontrol(ESP,ElectronicStabilityProgram),andautomaticparking,providingkeysupportforthesafetyandprecisecontrolofsmartvehicles.PART02六轴测量体系全图FullDiagramoftheSix-AxisMeasurementSystem六轴组成：3轴加速度计+3轴陀螺仪Six-AxisComposition:Three-AxisAccelerometer+Three-AxisGyroscope六轴构成Six-axiscomposition车载坐标系定义Definitionofon-boardcoordinatesystemIMU的六轴测量体系由3轴加速度计和3轴陀螺仪组成，加速度计负责测量线性加速度，陀螺仪负责测量角速度，两者结合可完整描述车辆的运动状态。Thesix-axismeasurementsystemofanIMUconsistsofa3-axisaccelerometeranda3-axisgyroscope.Theaccelerometerisresponsibleformeasuringlinearacceleration,andthegyroscopeisresponsibleformeasuringangularvelocity.Thecombinationofthetwocanfullydescribethemotionstatusofthevehicle.陀螺仪

Gyroscope在车载坐标系中，X轴对应车辆横向侧移与横滚，Y轴对应前后移动与俯仰，Z轴对应垂直颠簸与横摆，为车辆运动的精确测量提供了明确的参考框架。Intheon-boardcoordinatesystem,theXaxiscorrespondstothelateralsideshiftandrollofthevehicle,theYaxiscorrespondstotheforwardandbackwardmovementandpitch,andtheZaxiscorrespondstotheverticalbumpandyaw.Thisprovidesaclearreferenceframeforaccuratelymeasuringvehiclemotion.坐标系

CoordinatesystemPART03加速度计的三轴线性测量Three-AxisLinearityMeasurementoftheAccelerometerMEMS加速度计：F=ma的微观实现Micro-Electro-MechanicalSystems(MEMS)Accelerometer:MicroscopicRealizationofF=ma核心物理原理CorephysicsprinciplesMEMS加速度计基于牛顿第二定律F=ma，通过微结构将惯性力转化为电容变化，从而实现加速度的测量。TheMEMSaccelerometerisbasedonNewton'ssecondlawofmotion,F=ma,whichindicatesconvertinginertialforceintocapacitancechangethroughmicrostructuretoachieveaccelerationmeasurement.关键微结构Criticalmicrostructure其关键组件包括固定壳体、弹性梁悬挂的质量块和电容极板，质量块因惯性产生位移，进而改变电容极板间距，实现加速度的检测。Thekeycomponentsincludeafixedshell,aproofmasssuspendedbyanelasticbeam,andcapacitorplates.Theproofmassdisplacesduetoinertia,therebychangingthespacingbetweenthecapacitorplatestoachieveaccelerationdetection.测量流程Measurementprocess车辆线性运动时，质量块因惯性产生位移，拉伸或压缩弹性梁，改变电容极板间距，电路将电容变化换算为加速度值，完成测量。Whenthevehiclemoveslinearly,theproofmassdisplacesduetoinertia,stretchingorcompressingtheelasticbeamandchangingthespacingbetweenthecapacitorplates.Thecircuitconvertsthecapacitancechangeintoanaccelerationvaluetocompletethemeasurement.三轴扩展：X/Y/Z各置一套单轴结构Three-AxisExpansion:X/Y/Z,EachwithaSetofSingle-AxisStructures为实现三维空间的全面测量，IMU在X、Y、Z三个正交方向各集成一套独立的加速度计结构，分别测量横向、纵向和垂直加速度，确保车辆在任意方向的运动都能被精准捕捉。Inordertoachievecomprehensivemeasurementinthree-dimensionalspace,IMUsintegrateasetofindependentaccelerometerstructuresineachofthethreeorthogonaldirectionsofX,Y,andZaxes,eachmeasuringlateral,longitudinal,andverticalaccelerationsrespectively.Thisensuresthatthemovementofthevehicleinanydirectioncanbeaccuratelycaptured.-三轴扩展逻辑-Three-axisexpansionlogicPART04陀螺仪的三轴旋转测量Three-AxisRotationMeasurementoftheGyroscope电容式加速度计通过质量块位移改变极板间距，引起电容变化（与间距成反比），将加速度转化为电信号。电路检测电容变化并换算为加速度值。三轴结构集成X、Y、Z方向单轴传感器，实现三维线性加速度感知。应用中可分别响应重力分量与横向加速度，全面捕捉运动状态。Acapacitiveaccelerometerchangesthespacingbetweenthecapacitorplatesthroughthedisplacementoftheproofmass,causingachangeincapacitancewhichisinverselyproportionaltothespacing,andtherebyconvertingaccelerationintoanelectricalsignal.Thecircuitdetectsthecapacitancechangeandconvertsitintoanaccelerationvalue.Thethree-axisstructureintegratessingle-axissensorsfortheX,YandZaxes,enablingthree-dimensionallinearaccelerationsensing.Inpracticalapplications,theaccelerometercanseparatelyrespondtothegravitycomponentandlateralacceleration,comprehensivelycapturingthemotionstatus.陀螺仪的三轴旋转测量

Three-axisrotationmeasurementofthegyroscope科里奥利力：旋转参考系中的隐形手CoriolisForce:AnInvisibleHandinaRotatingReferenceFrame科里奥利力定义Coriolisforcedefinition科里奥利力是在旋转参考系中，运动物体受到的垂直于运动方向的附加力，MEMS陀螺仪正是利用这一效应实现角速度的测量。TheCoriolisforceisanadditionalforceperpendiculartothedirectionofmotiononamovingobjectinarotatingreferenceframe.MEMSgyroscopesusethiseffecttomeasureangularvelocity.测量原理Measurementprinciple通过检测科里奥利力引起的微小位移，MEMS陀螺仪能够将旋转运动转化为电信号，进而计算出车辆的角速度，为车辆的旋转状态提供精确数据。BydetectingthemicrodisplacementcausedbytheCoriolisforce,MEMSgyroscopescanconvertrotationalmotionintoelectricalsignalsandthencalculatetheangularvelocityofthevehicle,providingaccuratedatafortherotationstatusofthevehicle.MEMS陀螺仪：振动质量块的微位移检测MEMSGyroscope:MicrodisplacementDetectionoftheVibratingProofMass内部结构Internalstructure测量流程Measurementprocess三轴扩展Three-axisexpansionMEMS陀螺仪的关键组件包括高频振动的驱动质量块、检测质量块和电容极板，通过振动质量块的微位移来检测旋转运动。ThekeycomponentsoftheMEMSgyroscopeincludeahigh-frequencyvibratingdrivingproofmass,asensingproofmass,andcapacitorplates.Itdetectsrotationalmotionthroughthemicrodisplacementofthevibratingproofmass.为实现三维旋转的全面测量，IMU在X、Y、Z三个轴上各布置一套陀螺仪结构，分别测量横滚、俯仰和横摆角速度。Toachievecomprehensivemeasurementofthree-dimensionalrotation,IMUsarrangeasetofgyroscopestructuresontheX,Y,andZaxestomeasuretheroll,pitch,andyawangularvelocitiesrespectively.当车辆旋转时，科里奥利力使检测质量块产生垂直方向的位移，改变电容极板间距，电路将电容变化换算为角速度值。Whenthevehiclerotates,theCoriolisforcedisplacestheproofmassperpendicularlytoitsinitialmotion,alteringthecapacitorplatespacing.Thecircuitconvertsthecapacitancechangeintoanangularvelocityvalue.三轴旋转：横滚、俯仰、横摆各就各位Three-AxisRotation:Roll,Pitch,andYawAlignedtoAxesX轴旋转感知横滚，Y轴旋转感知俯仰，Z轴旋转感知横摆，三轴陀螺仪能够精准捕捉车辆在三维空间中的旋转运动，为车辆的动态控制提供关键数据。TheX-axisrotationdetectsroll,theY-axisrotationdetectspitch,andtheZ-axisrotationdetectsyaw.Thethree-axisgyroscopecanaccuratelycapturetherotationalmotionofthevehicleinthree-dimensionalspaceandprovidecriticaldataforthedynamiccontrolofthevehicle.-三轴覆盖-Three-axiscoveragePART04六轴数据协同价值Six-AxisDataCollaborationValue单独局限：加速度计混叠重力与陀螺零漂StandaloneLimitations:AccelerometerGravityAliasingandGyroscopeZeroDrift加速度计局限Accelerometerlimitations加速度计无法区分运动加速度与重力加速度，导致在上坡或倾斜时容易受到重力分量的干扰，产生误判。Theaccelerometercannotdistinguishbetweenmotionaccelerationandgravityacceleration,whichmakesiteasytobedisturbedbythegravitycomponentwhenthevehicleisclimbingaslopeortilting.▶陀螺仪局限：陀螺仪存在零漂现象，即使车辆静止，也会输出非零值，长期积累会导致显著误差，影响测量精度。Gyroscopelimitations：Gyroscopesexhibitazerodriftphenomenon.Evenwhenthevehicleisstationary,theywilloutputnon-zerovalues.Thiserroraccumulatesovertime,leadingtodeviationsandcompromisingmeasurementprecision.小结SummaryIMU六轴测量系统：3轴加速度计测量X/Y/Z方向的线性加速度，3轴陀螺仪测量X/Y/Z方向的角速度IMU6-axismeasurementsystem:A3-axisaccelerometermeasuresli