基于IMU旋转的捷联惯导系统自补偿方法

Auto-compensation method of SINS based on IMU rotation

为了有效地抑制惯性器件常值偏差对惯导系统导航精度的影响,提出了基于惯性测量单元(inertial measurement unit,IMU)旋转的自动补偿方法。由于旋转的引入,IMU中陀螺仪和加速度计的常值偏差被调制成正弦信号,通过积分运算可以有效地消除常值偏差对惯导系统导航精度的影响。在分析单、双轴旋转补偿原理的基础上,提出一种改进的单轴旋转调制方法并对该方法进行了理论证明和实验分析。与以往的单轴旋转方式及未采用旋转方式时的导航误差进行了比较,结果表明该方案可以消除所有方向上惯性器件常值偏差的影响,有效地提高系统的定位精度。

To enhance the strapdown inertial navigation precision that is influenced by constant bias of inertial sensors, a self-compensation method based on inertial measurement unit rotation is proposed. Rotary method is applied in strapdown inertial navigation system, which modulates the constant drift of IMU into a periodical variable signal. The constant drift of the sensors can be eliminated effectively by integral. An improved single-axis rotary modulation method, which is based on the principle of compensation with IMU single and double axis rotation, is proposed in this paper. The navigation error is compared with those of traditional single rotary manner and no rotary manner via simulation and experiment. Analyses and experiments show that the effect of the constant bias of the sensors can be eliminated effectively, thus the positioning accuracy can be greatly enhanced.