摘要
针对惯性测量单元在不同载体上的装配需求,设计了一种非质心构型的微惯性测量单元(MIMU)。MIMU采用3个单轴陀螺仪和2个三轴加速度计的配置方案,其机械结构外形为中空圆柱形,各个传感器的安装位置远离测量装置的质心位置,因此称为非质心构型的MIMU。结合各个传感器的安装位置,分析了非质心构型下的传感器误差特性,建立误差模型,提出基于最小二乘拟合的分立式快速标定方法,利用三轴转台和离心机等实验设备分别对各项误差参数进行了有效的标定和补偿。最后利用Allan方差分析方法,结合实际的测量数据,得到了MIMU中传感器的各项性能指标,进而为后续研究工作提供了可靠的测量装置和数据源。
A kind of miniature inertial measurement unit(MIMU)with non⁃centroid configuration is designed to meet its assembly requirements on different carriers.MIMU is composed of 3 single⁃axis gyroscopes and 2 three⁃axis accelerometers.Its mechanical structure is designed as the hollow cylinder shape.The installation position of each sensor is far away from the centroid position of the measuring device,so it is called MIMU with non⁃centroid configuration.In combination with the installation position of each sensor,the error characteristics of the sensor with non⁃centroid configuration are analyzed to establish a model of error detection.A discrete fast calibration method based on least square fitting is proposed.Experimental equipment like three⁃axis turntable and centrifuge are used to effectively calibrate and compensate the error parameters.Allan variance analysis method is used to obtain various performance indexes of the sensors in MIMU in combination with the actual measured data,which provides reliable measurement devices and data sources for subsequent research work.
作者
刘福朝
赵旭
樊霞
王超亮
LIU Fuchao;ZHAO Xu;FAN Xia;WANG Chaoliang(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science&Technology University,Beijing 100192,China;Tianjin Communication Center,The Navigation Guarantee Center of North China Sea,MOT,Tianjin 300457,China;CCCC Water Transportation Consultants Co.,Ltd.,Beijing 100007,China)
出处
《现代电子技术》
2021年第5期143-150,共8页
Modern Electronics Technique
基金
国家自然科学基金项目(61771059)
国家自然科学基金项目(61471046)。
