摘要
介绍了一种基于MEMS陀螺和石英挠性加速度计的低成本捷联惯性导航系统的设计与实现方法。给出了惯性测量单元(IMU)的模型方程,并在全温下对IMU的输出进行补偿;采用"四元数"法进行姿态计算,通过坐标变换、积分运算确定载体的速度、位置;对惯测样机进行了60 s的静态测试,结果表明该系统短期准确度满足SINS/GPS组合导航系统需求。
A low-cost strapdown inertial navigation system based on MEMS gyroscope and quartzose flexible accelerometer was designed and implemented. Static model equations of IMU were provided. The real-time compensation was completed between- 40℃ and ＋ 60℃. As for the system,the method of quaternion is used for attitude calculation,and the velocity and position of a carrier are confirmed by coordinate transformation and integral operation. The operation result of 60 seconds static test shows that IMU short-term precision is high,and it can meet the requirement of SINS /GPS integrated navigation system.
出处
《计测技术》
2014年第4期34-37,62,共5页
Metrology & Measurement Technology
