基于灰色预测理论的NGIMU角速度误差补偿方法  

An Error Compensation Method of Angular Velocity of NGIMU Based on Grey Forecasting Theory

作　　者：丁明理[1] 王祁[1] 杜祖良 

机构地区：[1]哈尔滨工业大学自动化测试与控制系,黑龙江哈尔滨150001 [2]北京自动化控制设备研究所,北京100074

出　　处：《电子学报》2006年第4期642-646,共5页Acta Electronica Sinica

基　　金：黑龙江省自然科学基金(No.E2004-15)

摘　　要：无陀螺惯性测节技术是利用加速度计代替传统的陀螺，构成无陀螺惯性测量组合（NGIMU）实现制导的，针对NGIMU中加速度计安装存在位置偏差和角度偏差的实际情况，基于灰色预测理论，提出了一种角速度误差补偿算法．算法利用加速度计的输出得到了上述情况下的角速度误差补偿公式，在传统算法中采用灰色预测方法对角速度进行补偿．最后基于提出的一种九加速度计NGIMU配置方案，组建了实验系统，进行了角度测试实验．实验结果验证了方案的可行性，同时在测试角度为±100°时，经算法补偿后测试精度可提高3°-4°。Non-gyro inertial measurement unit （NG1MU） uses only accelerometers replacing gyroscopes to compute the motion of a moving body. Based on the grey forecasting theory, a new compensation method for the angular rate estimating of NGIMU is proposed on the actual condition of existing the accelerometer mounting error, which includes the location error and the angle error. The algorithm gets the compensation equation of the angular rate error using the accelerometer output, and compensates the angular rate in the traditional algorithm using the grey forecasting method. In addition, a new nine-accelerometer configuration of NGIMU is presented, with its experiment system built. The experiment verification of the proposed methods for estimating the angular velocity is also investigated based on the presented NG1MU configuration. The results show the feasibility of the configuration and indicate that in the angle measurement range of ± 100 degree, the measurement precision can be improved for 3 - 4 degree.

关 键 词：惯性测量组合 无陀螺 角速度 误差补偿 灰色预测 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]