无陀螺惯性测量单元设计及仿真分析  

Design and simulation analysis of gyroscope-free inertial measurement unit

作　　者：王小旭 薛红香[1] 夏全喜[1] 孙明[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《中国惯性技术学报》2008年第2期154-158,共5页Journal of Chinese Inertial Technology

基　　金：高等学校博士学科点专项科研基金资助(20040217008)

摘　　要：在简述无陀螺惯性测量单元(GF-IMU)测量角速度的一般原理的基础上,提出了一种九加速度计的配置方案及其角速度解算方法。该算法利用加速度计输出的测量信息直接求得所测量的角速度的绝对值,没有积分运算引入的迭代误差,在一定程度上提高了载体角速度的解算精度。针对该九加速度计配置方案在解算载体角速度时,存在需要开方及符号误判等不足,提出一种解算角速度的微分算法,彻底消除解算过程中开方及符号判断带来的误差,提高了系统精度和实时性。仿真分析证明了方案的可行性和算法的有效性。Based on a brief description on the principle of gyroscope-free inertial measurement unit（GF-IMU）, a nine-accelerometers configuration scheme was presented and an angular velocity algorithm was put forward. This algorithm improved the angular velocity calculation precision in a certain extent. Since it directly used the measurement information of accelerometers to calculate the absolute value of measured angular velocity, there was no the iterative error resulting from integral. An angular velocity differential coefficient algorithm for this nine-accelerometer GF-IMU was put forward. This differential coefficient algorithm completely eliminated the extraction error and sign misjudgment caused by processing the angular velocity in this nine-accelerometer configuration schemes of GF-IMU, and improve the system precision and the real time property. The simulation results show the feasibility of the scheme and the effectiveness of the algorithm.

关 键 词：无陀螺惯性测量单元 角速度 加速度计 微分算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]