GF-IMU角速度解算方法的研究

Research on Angular Velocity Algorithm for GF-IMU

根据无陀螺惯性测量单元(GF-IMU)测量角速度的一般工作原理,提出了一种九加速度计的配置方案及其角速度解算方法,该算法利用加速度计输出的测量信息直接求得所测量的角速度的绝对值,没有积分运算引入的迭代误差,一定程度上提高了载体角速度的解算精度;为了避免角速度解算过程中的开方运算及符号误判,研究了一种解算角速度的代数算法,该算法降低了系统的计算量、提高了系统精度和实时性。

A nine-accelerometers configuration scheme and its corresponding angular velocity algorithm were proposed based on the principle description of gyroscope-free inertial measurement unit （GF-IMU）. The angular velocity algorithm just mentioned improves the angular velocity calculation precision in a certain extent, because of it calculating directly the absolute value of the angular velocity measured using the measurement information of accelerometers. Although there is not the iterative error resulted from integral, this algorithm needs determine the square root and sign. An angular velocity algebraic algorithm was investigated to avoid the extraction calculation and the sign mistake. The algebraic algorithm reduces the calculation burden and raises the system precision and real time.