无陀螺微惯性测量单元的卡尔曼滤波方法研究

A Kalman-filtering Approach for a Non-gyro Micro Inertial Measurement Unit

无陀螺惯性测量技术是利用加速度计代替传统的陀螺 ,构成无陀螺微惯性测量单元 (NGMIMU )实现制导的。由于加速度计随机漂移误差的存在 ,在利用 NGMIMU进行导航计算时 ,不可避免地产生了随时间增长的累积误差 ,且累积速度很快。本文基于 NGMIMU九加速度计配置方案 ,利用卡尔曼滤波器抑制误差的累积 ,并且推导了卡尔曼滤波器的状态方程和预防方程。同时进行了系统位移、速度仿真 。

Non gyro micro inertial measurement unit (NGMIMU) uses only accelerometers replacing gyroscopes to compute the motion of a moving body.NGMIMU has the advantages of small volume,low cost,rapid reaction and high angular acceleration capability.But the accelerometer output has a random drift error,and the navigation parameters are derived by integrating the linear combinations of the accelerometer outputs,so an inevitable accumulation error of navigation parameter is produced.To alleviate the accumulation error,a Kalman filtering approach based on a nine accelerometer configuration of NGMIMU is proposed.The state equation and estimation equation are also deduced.A simulation case for estimating position and velocity is investigated by this approach.Results verify the effectiveness and feasibility of the proposed approach.