摘要
在国外学者研究的基础上改进了无陀螺微惯性测量组合的模型,提出一种新颖的解算算法,采用基于假设检验理论的数据融合理论对传感器的冗余信息进行解算,抑制了迭代误差,提高了解算精度。经过仿真计算验证该方案的可行性。该算法有效地利用了传感器的全部信息,使导航精度提高了近一个数量级,从而为无陀螺微惯性测量组合的实用化奠定了理论基础。
An improved model of gyros-free micro inertial measurement unit (GFMIMU) based on research by foreign scholars is introduced. A novel calculation method based on the data fusion algorithms of hypothesis test theory reduces the iterative error and raises the navigational accuracy. The feasibility of this scheme is verified through simulative calculations. The calculation method effectively utilizes all the information and raises the accuracy of measurement by about 10 times, thereby lays down the theoretical foundation for practicable verification of GFMIMU.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2004年第1期24-28,共5页
Journal of Nanjing University of Science and Technology
关键词
微惯性测量组合
加速度计
角速度
数据融合
micro inertial measurement unit
accelerometer
angular velocity
data fusion
