无陀螺惯性测量系统的设计与实验

The Design and Experiment of A Gyro-free Inertial Measurement System

首先比较了加速度计和陀螺作为惯性测量元件的优缺点,简要介绍了惯性测量的原理,随后给出了一种加速度计的配置方式,推导其输出公式;用分度头对各个加速度计进行标定,得到加速度计的灵敏度和零偏;设计了相应的电路来处理传感器信息,并采取多种措施以减小干扰;用离心机做转速实验,测得的角速度曲线与实际情况相符合,证明了方案的可行性。

First we compare accelerometer and gyro to be the inertial measurement component.The principle of inertial measurement is simply introduced.Then a configuration of the accelerometers and the output formula are given;Han- dling the calibration data gained by dividing head to get the sensitivity and bias of all the accelerometers;The circuit is designed to handle the information gained by the sensors and measures are taken to reduce interference;Using centrifu- gal machine to do the rotation experiment;The curve of angular velocity measured matches practical situation to justify the scheme.