摘要
微惯性测量组件(MIMU)的陀螺和加速度计随机误差较大,系统短时间内的计算误差发散很快,本文推导了惯导误差φ的角非线性模型,模型的状态变量包括:位置误差,速度误差,数学平台的姿态误差角,陀螺和加速度计的常值偏置。MIMU经过初始对准后,方位误差角可能仍然很大,误差具有较强的非线性,本文使用UKF滤波方法来对误差进行估计,利用GPS来辅助MIMU进行组合导航,通过输出和反馈互相结合的混合校正方式提高了导航精度。
The gyros and accelerators of MIMU output large errors . In a short time, the calculation errors grow quickly . This paper derived the nonlinear error model, state varibles of the model include positon , velocity and attitude errors, gyro constant drift and accelerator constant bias, after the initial alignment, the azimuth angle error is still so large that the error equations are strongly nonlinear, the Unscented Kalman Filter is used to estimate the errors, In the navigation system, the GPS aids the MIMU system, with the output and feedback hybrid correction, the navigation accuracy improves greatly.
出处
《微计算机信息》
2009年第19期152-154,共3页
Control & Automation
