无陀螺微惯性测量组合的优化算法研究

无陀螺微惯性测量组合是利用线加速度计在空间的组合解算出载体的角速度,同时测量载体的轴向加速度,构成惯性测量组合,应用该方法可以设计出适用的中等精度惯性导航系统. 在国外学者研究的基础上改进了9 加速度计的模型,提出一种新颖的解算算法,抑制了迭代误差. 该算法利用传感器的冗余信息直接求得所测量的角速度的绝对值,及时修正微分方程的解,减少了解微分方程组所带来的累积误差,降低了惯性测量组合的漂移. 经过仿真计算验证了该方案的可行性.
关键词: 惯性导航; 微惯性测量; 加速度计
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