In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （...In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （6A2G） was proposed in this paper. The available configurations have the problem of low measurement precision In a high dynamic environment due to channel coupling. The three channels were decoupled when calculating the angular velocity in the proposed configuration. The yawing and pitching angular velocity were directly measured by gyros, while only the rolling angular velocity was obtained by the GAMA-IMU indirectly from the rolling angular acceleration and quadratic component of rolling angular velocity. Then a single channel rolling angular velocity calculation model was established and the extended Kalman filter （EKF） was used to do state esti- mation. Simulations were carried out and results indicated that the calculation precision of the proposed 6A2G configuration could meet the demand of high precision measurement for a high-speed rotating carrier.展开更多
This paper reported a silicon micromachined gyroscope which is driven by the rotating carrier's angular velocity,the silicon was manufactured by anisotropy etching.The design,fabrication and packing of the sensing...This paper reported a silicon micromachined gyroscope which is driven by the rotating carrier's angular velocity,the silicon was manufactured by anisotropy etching.The design,fabrication and packing of the sensing element were introduced in the paper.The imitation experimentation and performance test have certificated that the principle of the gyroscope is correct and the gyroscope can be used to sense yawing or pitching angular velocity of the rotating carrier,and the angular velocity of the rotating carrier itself.展开更多
文摘In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit （GAMA-IMU） with six accelerometers and two gyros （6A2G） was proposed in this paper. The available configurations have the problem of low measurement precision In a high dynamic environment due to channel coupling. The three channels were decoupled when calculating the angular velocity in the proposed configuration. The yawing and pitching angular velocity were directly measured by gyros, while only the rolling angular velocity was obtained by the GAMA-IMU indirectly from the rolling angular acceleration and quadratic component of rolling angular velocity. Then a single channel rolling angular velocity calculation model was established and the extended Kalman filter （EKF） was used to do state esti- mation. Simulations were carried out and results indicated that the calculation precision of the proposed 6A2G configuration could meet the demand of high precision measurement for a high-speed rotating carrier.
基金supported by the National Natural Science Foundation of China(No.60272001)the Beijing Natural Science Foundation of China(No.4032010).
文摘This paper reported a silicon micromachined gyroscope which is driven by the rotating carrier's angular velocity,the silicon was manufactured by anisotropy etching.The design,fabrication and packing of the sensing element were introduced in the paper.The imitation experimentation and performance test have certificated that the principle of the gyroscope is correct and the gyroscope can be used to sense yawing or pitching angular velocity of the rotating carrier,and the angular velocity of the rotating carrier itself.
