捷联惯性测量组件中内杆臂效应分析与补偿  

Analysis and compensation on inner lever arm effect of strapdown inertial measurement unit

作　　者：严恭敏[1] 严卫生[1] 徐德民[1] 

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《中国惯性技术学报》2008年第2期148-153,共6页Journal of Chinese Inertial Technology

基　　金：中国博士后科学基金(20070420215);水下信息处理与控制国家级重点实验室基金(9140C230206070C2306)

摘　　要：在实际捷联惯性测量组件(SIMU)中,三个加速度计本质上测量的是SIMU上三个不同点处的加速度,如果把这些加速度当作来自于理想"点测量组件"的输出进行惯性导航解算,会从原理上引起导航误差,即内杆臂效应误差。假设SIMU中三个加速度计敏感轴互相垂直并且相交于一点,在SIMU绕某个固定坐标轴作角振动的条件下,分析了内杆臂效应的产生机理,得出内杆臂效应引起导航速度误差的规律:速度误差与角振动中心位置无关,与加速度计敏感点至交点的杆臂长度成正比,也与角振动频率成正比。提出内杆臂效应补偿的方法是将加速度计敏感点处的加速度测量值折算至它们的敏感轴交点上。In a practical strapdown inertial measurement unit （SIMU）, the acceleration measurements by three accelerometers are actually from different points. If these acceleration data are directly used, they could cause the navigation velocity error, i.e. inner lever arm effect velocity error （ILAEVR）. The paper analyzed the mechanism of ILAEVE in detail, and some velocity error formulas were deduced by assuming that accelerometer＇s sense axes were perpendicular to each other and the three axes intersect at one point-a virtual measuring point. When SIMU vibrates by a fixed axis, the velocity error is not relevant to the vibration position, but it is proportional to the length between accelerometer＇s sense point and the virtual measuring point, and is also proportional to the SIMU vibrating fxequency. The method of compensation for ILAEVE is to convert the accelerometer measurements to the virtual point of intersection.

关 键 词：捷联惯导系统 SIMU 加速度计 杆臂效应 划船运动误差 

分 类 号：U666.1[交通运输工程—船舶及航道工程]