基于加速度计的轴系垂直度静动基座测量方法

Axes Perpendicularity Measurement in Static and Dynamic Conditions Based on Accelerometer

针对目前惯导平台结构垂直度指标在使用过程中难以测量的问题,提出基于加速度计惯性测角原理的静动基座条件下的新的测量算法。其中包括静动基座条件下,由几何模型推导建立的数学模型,相应的实验方法的阐述与论证,以及实验中对上位机采集数据进行离散Kal-man滤波处理。最后,建立误差模型,分析了采用该方法测量垂直度的误差来源,通过数值比较,证明了该方法能够在当前技术条件下实现所需测量精度。

To save the problem that axes perpendicularity of inertial navigation platform structure in use is difficult to be measured,a new measurement is proposed by using accelerometer inertial angle measurement principle. It includes mathematical models derived from thegeometric model,corresponding annotation and provement for the experiment method,and application of discrete Kalman filter for data collected by upper PC,used in the environment in static and dynamic conditions. At last,with the error model,it analyzed the error source of using this method. It also proved that this method can achieve required measurement accuracy in current technical conditions by numerical comparison.