捷联惯性测量单元配置方案及比较

Study of Strap-down Inertial Measurement Unit Configurations

在多加速度计测量运动体角运动信息原理的基础上,对无陀螺和单陀螺捷联惯性测量单元的配置方式进行了研究,给出了20多种配置方式;对几种典型配置方式进行了误差分析和比较,得出如下结论:①适当的9加速度计方案和单陀螺方案具有同一数量级精度;②载体转动角速度Ω=10 rad/s,加速度计安装点距载体质量中心距离ρ=20 cm,惯性测量单元连续工作30 s钟情况下,在无陀螺和单陀螺捷联方案中,要求加速度计综合精度约为1.2×10-6m/s2;最后,文章给出了一种新的测量高速三维转动体运动信息的6加速度计无陀螺方案。

The theory of measuring angle movement information using accelerometers is induced. The configurations of nongyroscope and single gyroscope strapdown inertial measurement unit （SIMU） are studied and more than twenty configurations are put forward. The error of several typical algorithms are analyzed and contrasted in this paper and some conclusions are presented. At last, a kind of new nongyroscope configuration measuring revolving information of an object is given.