一种新型微惯性测量组合布局误差模型的建立与仿真分析

Establishment and Simulation Analysis of a New Type of MEMS-IMU Error Model

根据一种适合于高转速载体的微惯性测量组合布局方案,在考虑载体质心和惯性测量组合中心不重合的情况下,建立了具有惯性器件安装方位误差因素的数学模型,并进行了仿真,得到了相应的误差曲线。解决了无陀螺惯性测量系统解析出的角速度比陀螺输出的角速度精度低,误差随时间严重发散的问题,提高了系统精度。

According to a MEMS-IMU configuration that suits high rotation vehicle measure,a mathematic model with the position error was established according to the non-coincidence of the centroid of body and the centric of inertial measurement,the model simulation was completed and the error curve was obtained.The scheme could not only solve the problem that low precision of gyroscope free measurement system compared with conventional gyro measurement system,but also the divergence of error with the time.Therefore,the calculation precision could be improved.