用线性加速度计测量定轴回转系统状态的理论研究

Measuring States of Rotational System with Linear Accelerometers

为了克服定轴回转系统状态测量方案需要传感器种类多、数据处理复杂等缺陷,研究了微型双轴线性加速度计测量系统状态的方案.通过建立单片双轴微型线性加速度计在安装角度有误差、敏感轴非严格正交情况下的测量方程,给出了利用高精度角度传感器测量数据对测量方程中参数进行辨识的方法,从而导出了由两个线性加速度计的测量数据解算系统状态的计算公式.推导过程表明,传感器的固有误差和安装误差可以用高精度角度传感器的测量数据修正,系统的状态可以由两个双轴微型线性加速度计的测量数据解算得到.与传统方法相比,该方法具有传感器种类少、成本低、实时性好的优点.

To overcome the disadvantage that the traditional methods for fixed-axis rotating systems＇ state measuring need multiple sensors and complicate arithmetic,a dual axis micromachined linear accelerometer was researched to measure system states. This paper set up the dual axis linear accelerorneter＇s measurement equation, which includes the effect of accelerometer installation error and sensitive axes nonorthogonality,and presented a method identifying the parameters of the measurement equation, deduces calculating formulas for system states. It is shown that errors introduced by installation and sensitive axes＇ nonorthogonality can be corrected by the data from high precision angle transducer and the system state can be calculated from two dual axis linear micromachined accelerometers＇ outputs. Compared with the traditional method,the state measurement based on linear accelerometer has the advantage that it needs less sensors and less cost and has a good real-time performance.