摘要
无陀螺微惯性测量单元(NGMIMU)的九加速度计配置方案是该系统所有方案中运算量最小、最适合实时运算的。该方案要求若干加速度计安放在同一点上,但加速度计本身有体积,而且相对于实用载体而言其体积是巨大的,故导致巨大的系统误差。本文根据NGMIMU算法和加速度计特性提出一种全新的实用算法。该算法在要求加速度计安装满足一定条件的基础上,将多个加速度计进行分组计算,在没有增加任何计算量的情况下,从原理上消除了由于加速度计体积带来的误差。九加速度计NGMIMU实验结果显示,应用该算法测量误差小于8%,证明了该算法的正确性。
The calculation amount of nine-accelerometer non-gyro micro inertial measurement unit （NGMIMU） is smallest in all designs, so it is the most appreciate to be applied in the real time system. This design needs some accelerometers to be fixed at the same point. But the accelerometers have the volume which can bring about the huge system error. In this paper, based on the NGMIMU algorithm and the accelerometer characteristic, a new applied algorithm is proposed. The algorithm divides the accelerometers into some groups to calculate on requiring the accelerometers to be fixed basing on some assumptions. So it can detect the error due to the volume of the accelerometer without any increase of the calculation amount. The experiment results also show that the measurement error is less that 8 % using the proposed algorithm.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2006年第3期478-482,共5页
Journal of Astronautics
关键词
无陀螺惯性测量
加速度计
实用方案
Non-gyro inertial measurement
Accelerometer
Practical design
