A new compensation method for angular rate estimation of non-gyro inertial measurement unit  

作　　者：丁明理 梁廷伟 王倩 

机构地区：[1]School of Electrical Engineering and Automation, Harbin Institute of Technology [2]School of Astronautics, Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2009年第6期761-765,共5页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the National Natural Science Foundation of China (Grant No.60901042);the Natural Science Foundation of Heilongjiang Province(Grant No.F2007-08)

摘　　要：A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.A new compensation method for angular rate estimation of non-gyro inertial measurement unit (NGIMU) is proposed in terms of the existence of accelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional accelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.

关 键 词：inertial navigation non-gyro angular rate estimation mounting location 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置] P228.4[自动化与计算机技术—控制科学与工程]