一种六加速度计无陀螺惯性导航系统安装误差校准方法研究

Research on a calibration method for gyro-free inertial navigation system using six accelerometers

针对加速度计安装方向和位置向量补偿的问题,理论上推导了一种六加速度计无陀螺惯性导航系统安装误差校准方法,通过重力效应进行加速度计方向向量的校准,通过载体旋转产生的向心加速度进行位置向量的校准,然后利用校准的结果进行加速度计输出补偿,并进行了计算机数字仿真。仿真结果表明,经加速度计安装校准和补偿,系统精度可提高600倍以上,验证了该方法的有效性。

A theoretic derivation of a calibration method for Gyro-Free Inertial Navigation been done. With the ＂gravity effect＂ and centripetal acceleration produced by body rotati stallation errors of an accelerometer including an orientation and then the that the output system of accelerometer can precision has improv be compensated. The metho ed more than 600 times. al d is ocation vector can be System has on, the incalibrated, simulated by computer, showing