摘要
低成本的微惯性测量组件(M IMU)导航系统在惯性导航中得到了越来越广泛的应用。但由于微惯性仪表技术仍处于发展阶段,技术不是很成熟,因此M IMU在精度和稳定性方面仍存在缺点。低精度M IMU的数据输出中存在野值的现象,并且有较大的常值漂移。如果不进行野值处理和常值漂移补偿,系统将无法正常工作或者精度很差。本文采用了简单实用的方法对低精度M IMU系统的数据进行了预处理,并对系统在转台上进行了静态和动态实验,进行了导航解算,得到了不错的结果,验证了这种数据预处理方法的可行性。
Low cost micro inertial measurement unit （MIMU） navigation system has been widely applied in inertial navigation filed. However, the precision and stability of the MIMU are not so good for the micro inertial instrument technology is still in the development state. There are outliers in output data of the low precision MIMU and large constant drift. Therefore, It is necessary to process the outliers and compensate the constant drift. Otherwise the system will not work normally or lower in precision. A simple and practical method of data pretreatment is proposed in this paper. Furthermore, the static and dynamic experiments are performed on the rotating platform and demonstrate its feasibility with satisfactory results.
出处
《导弹与航天运载技术》
北大核心
2005年第5期26-30,共5页
Missiles and Space Vehicles
关键词
微惯性测量组件
野值
常值漂移
Micro inertial measurement unit
Outlier
Constant drift
