摘要
针对高速旋转载体的实际应用情况,采用了无陀螺捷联惯性导航技术方案,快速精确测量载体的姿态、速度和位置信息。无陀螺捷联惯导系统采用加速度计来解算载体相对惯性系的角速度,从而代替角速度陀螺仪,提高了系统的高过载的适应能力。首先推导了一种基于六加速度计配置方式力学编排方程,分析了加速度计精度、杆臂长度以及时间等因素对角速度误差产生影响,最后仿真分析了加速度计精度对惯导系统的定位精度的影响,为系统设计提供理论依据。
In view of the practical applicationof high speed rotatingcarrier,weuse the gyroscope free strapdown inertial navigation system to measure the attitude,velocity and position information of the carrier. Gyroscopes are replaced by accelerometers in gyroscope free strap-down inertial navigationsystem（GFSINS） and the angular velocity is calculated only by using accelerometers.Firstly,derivating the mechanical calibration equation based on sixaccelerometers configuration mode,analyses the precision of accelerometer, the lever arm length and time factors toinfluence factors ofangular velocityerror. Finally, analysis the simulation of the accelerometer precision influence on the positioning precision of inertial navigation system and provide thetheoretical basis for system design.
出处
《自动化与仪器仪表》
2014年第12期96-98,共3页
Automation & Instrumentation
关键词
无陀螺
惯性导航
加速度计
配置方式
Non-gyro inertial measurement unit
Inertial navigation system
Accelerometer
Configuration
