無陀螺微慣性測(cè)量組合的優(yōu)化算法研究

無陀螺微慣性測(cè)量組合是利用線加速度計(jì)在空間的組合解算出載體的角速度,同時(shí)測(cè)量載體的軸向加速度,構(gòu)成慣性測(cè)量組合,應(yīng)用該方法可以設(shè)計(jì)出適用的中等精度慣性導(dǎo)航系統(tǒng). 在國(guó)外學(xué)者研究的基礎(chǔ)上改進(jìn)了9 加速度計(jì)的模型,提出一種新穎的解算算法,抑制了迭代誤差. 該算法利用傳感器的冗余信息直接求得所測(cè)量的角速度的絕對(duì)值,及時(shí)修正微分方程的解,減少了解微分方程組所帶來的累積誤差,降低了慣性測(cè)量組合的漂移. 經(jīng)過仿真計(jì)算驗(yàn)證了該方案的可行性.
關(guān)鍵詞: 慣性導(dǎo)航; 微慣性測(cè)量; 加速度計(jì)
Abstract : An inertial navigational system with high anti2g capability , low power consumption , small vol2 ume and low cost is needed on certain specific occasions. By using linear accelerometers unit at the different positions in space , a non - gyro micro inertial measuring unit is used to calculate the angular velocity and sense the axial acceleration of the carrier. A feasible inertial navigational system with medium accuracy can be designed in this way. The nine accelerometers were improved based on researched by foreign scholars and
a novel calculation method was proposed to cont rol the iterative error. The redundant information of sensors was used directly to calculate the absolute value of measured angular velocity and correct the solutions of dif2 ferential equations thereby diminishing the accumulative errors for the solution of differential equations and reducing the shift of an inertial measurement unit .
Key words : inertial navigation ; micro inertial measurement unit ; accelerometer