无陀螺惯性测量组合模型方案设计

Design of model on gyroscope-free inertial measurement unit

无陀螺惯性测量组合(GFIMU)是利用线加速度计在空间的组合解算出载体的角速度,同时测量载体的轴向加速度,构成惯性测量组合。提出了GFIMU十二加速度计配置方案,该方案直接得出角速度数值表达式,有效避免了求解微分方程组带来的积分误差。在推导导航参数计算数学模型的基础上,设计了实物结构模型和数据采集电路,并进行了系统标定实验。提出了基于三维转台的接近gn值点和0点的多位置标定方法,可以有效地减小在加速度计标定中方位误差带来的影响。

Gyroscope-free inertial measurement unit （GFIMU） is the use of linear acceleration of the portfolio in the space of the calculated velocity vector, measuring axial vector acceleration,a inertial measurement unit. GFIMU 12 accelerometer configuration scheme is prolapsed, which can come at directly angular velocity numerical expression,effectively avoid the integral equations error. On the basis of deriving a mathematical model navigation parameter calculation , the physical structural model and the data acquisition circuit are designed, and system calibration experiments are carried throug. A three-dimensional table based on the value of point on nearly g, and 0 point multi-position calibration method is proposed, which can effectively reduce the influence of poslitinn error in the accelerometer calibration.