无陀螺惯性测量组合动态补偿及动态解耦方法  

Dynamic compensation and decoupling of non-gyro inertial measurement unit

作　　者：丁明理[1] 王祁[1] 

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

出　　处：《华中科技大学学报（自然科学版）》2006年第7期60-62,共3页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：黑龙江省自然科学基金资助项目(E2004-15);黑龙江省博士后基金资助项目.

摘　　要：基于提出的一种无陀螺惯性测量组合(NGIMU)九加速度计配置方案,采用零极点配置的方法设计动态补偿器对加速度计进行动态补偿.基于动态耦合定义,提出了应用不变性动态解耦方法对NGIMU动态解耦.该方法不在各加速度计输出信号的正向通道上增加新的环节,而仅在各输出通道之间设置较简单的环节,用较低阶的解耦模型,抵消各维间耦合.进行了系统三个方向角速度的仿真验证,仿真结果表明,系统经动态解耦后导航误差迅速收敛,可以控制在0.02rad/s内.Dynamic compensator for the accelerometers was set up to improve the navigation precision of non-gyro inertial measurement unit （NGIMU） by using the zero-pole assignment, based on the proposed 9-accelerometer. In addition, based on the definition of the dynamic coupling, a new dynamic decoupling method is applied to NGIMU. In this method, the new decoupling parts are not added on the positive channel of the accelerometer output as usual. However, the relatively simple decoupling parts are put between the channels of every accelerometer output to counteract the dynamic coupling of every dimension. Finally, a simulation case for estimating the error of the angular rate in three axes is investigated. The simulation results show that after the dynamic compensation, the navigation error decrease rapidly and can be controlled in 0.02 rad/s.

关 键 词：惯性导航 无陀螺惯性测量组合 动态补偿 动态解耦 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]