摘要
对基于全加速度计惯性测量单元的微震颤测量技术进行研究和分析,设计了测量系统的方案并研制了实验样机,惯性测量单元采用9加速度计的配置形式;推导了加速度计输出的比力方程,提出了将积分法和开方法结合起来求解角速度的算法;给出了利用四元数求解捷联矩阵的数值求解方法和在惯性坐标系下载体系上任意位置在任意时刻坐标的数值求解方法。
Micro-tremble measuring technique based on total accelerometer inertial measurement unit is researched and analyzed. Measurement unit is designed and experimental model machine is developed. Inertial measurement unit consists of nine accelerometers. This paper derives specific gravity equation of accelerometer and forwards an algorithm combined of intergration and extraction of root to solve angular velocity. Computation method using quaternion computation of srrapdown matrix and computation method of arbitrary position at arbitrary time in inertial reference system are given.
出处
《机械工程师》
2014年第4期44-47,共4页
Mechanical Engineer
关键词
微震颤
加速度计
惯性测量单元
micro-tremble
total accelerometer
inertial measurement unit
