无陀螺惯性测量组合设计及角速度误差补偿方法研究

Design of Non-gyro Inertial Measurement Unit and Research on Error Compensation Method of Angular Velocity

提出了九加速度计无陀螺惯性测量组合(NGIMU)配置方案,并建立了其实验系统。由于加速度计输出误差的存在,必然引起角速度计算误差随时间累积。针对该项误差,采用一种提高角速度解算精度的新方法,该方法利用角速度乘积项可有效对误差进行补偿。另外在分析加速度计安装位置存在误差的基础上,提出了对加速度计输出具有补偿效应的解算方法,间接提高了角速度的解算精度。最后对上述两种补偿方法进行了角速度仿真和角度测试实验。实验结果证明了方案的可行性和有效性。

A new nine-accelerometer configuration of non gyro inertial measurement unit （NGIMU） is presented, with its experiment system built. In the system, an inevitable accumulation error of the angular velocity is produced due to the existence of the accelerometer output error. So, a new method for improve the precision of the angular velocity estimation is applied, which uses the product terms of the angular velocity to acquire the error term and compensate the angular velocity. In addition, a novel compensation algorithm for getting the correct accelerometer output is provided on the actual condition of existing the accelerometer mounting error, which seriously affects the precision of the navigation parameters estimation. The simulation case and the ex periment verification of the proposed methods for estimating the angular velocity are investigated based on the presented NGIMU configuration. The results show the feasibility and the affectivity of the configuration.