无陀螺捷联惯导系统加速度计安装误差研究

Study on Installation Errors of Accelerometer in GFSINS

刚体的运动包括线运动和角运动,角运动通常用陀螺仪来测量。研究表明可以用加速度计代替陀螺仪来确定刚体的角运动,其关键是选择加速度计的安装位置和方向,即加速度计的配置方式。分析和推导了基于加速度计的无陀螺捷联惯性测量装置的可行条件,对Chen的6加速度计和一种12加速度计配置方式的惯性装置,给出了加速度计安装误差的表达式和试验标定方法并对安装误差进行了补偿。该项研究对中等精度和较低成本惯性技术的发展具有重要的意义。

The motion of a rigid body includes linear and angular motions, the latter is usually measured by gyroscopes. The researched result shows that it is possible to determine the angular motion of a rigid body using only accelerometers instead of gyroscopes. The key to the solution of this problem is choosing the location and the orientation, namely, the configuration of these accelerometers. The feasibility of gyroscope free strap-down inertial navigation system（GFSINS） based on accelerometers was analyzed and deduced. Considering Chen＇s configuration of 6 accelerometers and a kind of configuration of 12 accelerometers, the expressions and the test calibration method of installation error were presented, and the installation error was compensated. It can be used in medium precision and lower cost inertial technology.