基于MEMS加速度计的无陀螺惯导系统  

Gyro free inertial navigation system based on MEMS accelerometer

作　　者：岳鹏[1] 史震[1] 王剑[2] 杨杰[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2011年第2期152-156,共5页Journal of Chinese Inertial Technology

基　　金：国家科技部863项目(2008AA09Z204)

摘　　要：由于MEMS陀螺精度低、漂移大,使得MEMS陀螺和加速度计构成的微惯性导航系统(Micro-INS)的精度很低,导航定位误差发散很快,不能满足载体进行导航定位定姿的要求。而相对MEMS陀螺,MEMS加速度计精度较高,据此提出用MEMS加速度计来构成的无陀螺微惯性导航系统(Gyro Free Micro Inertial Navigation System,GFMINS),即通过将高精度的MEMS加速度计安放在载体非质心处,代替陀螺来测量载体角运动信息,实现在短时间内的载体角速度测量精度优于MEMS陀螺的精度,以满足某些短时间运行载体的导航定位定姿要求。最后,针对某型火箭弹的运动模型,对两种惯导系统进行了仿真,结果表明,由误差补偿后MEMS加速度计构成的无陀螺微惯导系统,在100 s内的导航误差等效于传统惯导系统中陀螺漂移0.1(°)/h的误差。Due to low precision and large drift of MEMS gyro,the navigation precision of micro inertial navigation system equipped with MEMS gyro and accelerometers is very low and its position error and attitude error could diverge quickly,so the vehicle＇s navigation requirement on position and attitude determination could not met.While the precision of MEMS accelerometer is higher than that of MEMS gyro,a gyro free inertial navigation system（GFINS） only with the MEMS accelerometer is proposed to replace the MINS system for some short time moving vehicle.The MEMS accelerometer with high accuracy will be placed at the non center of mass in this GFINS to measure angular motion information instead of MEMS gyro.Finally,two inertial navigation systems are simulated to track a trajectory of a short-term moving vehicle.The simulation results show that,after the error compensation,the navigation error in 100 s for the GFSINS constituted by MEMS accelerometers is equivalent to that of the traditional gyro-INS error when caused by gyro drift of 0.1（°） / h.

关 键 词：MEMS 惯导系统 加速度计 无陀螺惯导系统 误差补偿 

分 类 号：U666.1[交通运输工程—船舶及航道工程]