无陀螺惯性测量组合静动态解耦方法  

Static and dynamic decoupling method of NGIMU

作　　者：丁明理[1] 王祁[1] 王常虹[2] 

机构地区：[1]哈尔滨工业大学自动化测试与控制系,哈尔滨150001 [2]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《哈尔滨工业大学学报》2007年第3期342-344,共3页Journal of Harbin Institute of Technology

基　　金：黑龙江省自然科学基金资助项目(E2004-15)

摘　　要：无陀螺惯性测量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.NGIMU系统在运行时,不可避免地存在静态和动态耦合误差.基于NGIMU9加速度计配置方案,根据耦合定义,提出了应用静动态解耦方法对NGIMU解耦.该方法克服了静态解耦和动态解耦分别进行带来的处理复杂性,简化了后续处理系统.最后进行了系统3个方向角速度运算的仿真验证,结果表明,系统经静动态解耦后导航精度得到了有效提高.Non-gyro micro inertial measurement unit （NGIMU） uses only accelerometers replacing gyroscopes to compute the motion of a moving body. When a NGIMU system is working, an inevitable static coupling error and dynamic coupling error occur. Based on a nine-accelerometer configuration of NGIMU and the definition of the coupling error, a new static and dynamic decoupling method is applied to NGIMU. The method overcomes the complexity which is aroused by using the static decoupling method and dynamic coupling method respectively, and simplifies the following processing system. Finally, a simulation case for estimating the error of the angular rate in three axes is investigated. The simulation results show that after the static and dynamic decoupling, the navigation precision is improved effectively.

关 键 词：惯性导航 NGIMU 动态补偿 静动态解耦 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]