高转速载体惯性测量组合研究

Research on Inertial Measurement Unit of High Rotation Vehicle

针对目前陀螺仪量程有限,无法用于高转速载体轴向角速度测量的缺点,提出了3种利用加速度计的杆臂效应来解算轴向角速度的方案,用双轴陀螺仪来测量俯仰和偏航方向角速度的惯性测量组合方案.根据函数随机误差公式,给出了载体质心处线加速度和轴向角速度误差传递公式,有利于惯性系统传感器的选择及系统的组建.仿真表明这3种方案在目前陀螺量程还达不到要求的情况下可以用来测量高转速载体姿态,应优先采用方案二,即惯性系统的惯性测量组件由4个加速度计和1个双轴陀螺组成.

At present, the measurement range of micro gyroscope is limited and can not be applied to axial angular rate measurement of high rotation vehicle. Three inertial measurement schemes using dimension effect of accelerometers for the axial angular rate test and two-axis gyroscope for the yaw and pitch angular rate measurement were presented. Based on the random error formulas of function, the error transfer formulas of acceleration at the vehicle mass center and axial angular rate were provided which were helpful to select sensors and form the measurement system. The simulation result indicates that three schemes can be applied to attitude measurement of high rotation vehicle when the measurement range of micro gyroscope is limited. The second scheme that the inertial measurement unit is constituted by 4 accelero-meters and 1 two-axis gyroscope should be chose preferentially.