虚拟陀螺技术在MEMS惯性导航系统中的应用  

Virtual gyro technique applied in the MEMS intertial navigation system

作　　者：何昆鹏[1] 程万娟[1] 高延滨[1] 梁海波 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2009年第10期1123-1128,共6页Journal of Harbin Engineering University

摘　　要：针对MEMS惯性导航系统中陀螺测量精度低的问题,采用虚拟陀螺技术提高陀螺的角速度测量精度.系统中每个测量轴放置了3个普通精度的陀螺,组成一个阵列,对同一角速度信号进行冗余检测,然后通过同类传感器信息融合技术得到输入角速率的高精度估计值.试验结果表明,虚拟陀螺的精度最大提高了2.7倍,最小1.9倍,证明了虚拟陀螺技术的有效性.To improve the measurement precision of micro-electro-mechanical systems （MEMS） gyros, virtual gyro techniques were used to test a miniaturized inertial measurement unit （MIMU） that the authors designed. The system arrayed three gyros of moderate precision on each axis to provide redundant signals at the same angular rate. Then through sensor information fusion technology, sophisticated homogeneous estimated values of input angular rates were calculated. The experimental results indicate that the precision improvements of the virtual gyroscope are in the range of 2.7 to 1.9 times, proving the validity of this approach.

关 键 词：惯性导航 虚拟陀螺 卡尔曼滤波 误差补偿 

分 类 号：TJ01[兵器科学与技术—兵器发射理论与技术]