低成本MIMU/编码器组合的高精度航姿系统  

Design and Test of Low-Cost MIMU/Encoder Integrated Precision Attitude Heading Reference System

作　　者：陈述奇[1] 刘青峰[1] 冉龙明[2] 李星海[1] 肖祥能[1] 黄勇[1] 

机构地区：[1]中国电子科技集团公司第26研究所,重庆400060 [2]中国人民解放军空军驻重庆地区军事代表室,重庆400060

出　　处：《压电与声光》2012年第3期368-371,共4页Piezoelectrics & Acoustooptics

摘　　要：高精度惯性传感器的昂贵价格在一定程度上限制了惯性导航系统的进一步推广应用,根据某型雷达车的需要,该文提出了一种低成本微型惯性测量单元(MIMU)/编码器组合的高精度航姿系统的结构与方案,并给出了初始对准和组合导航系统的数学模型,初始航向对准通过接收挠性陀螺寻北仪的寻北结果来完成,考虑到雷达车的工作方式,扣除杆臂效应后,2个速度误差观测量和3个位置误差观测量都为0,采用卡尔曼(Kalman)滤波将捷联惯导解算和航向编码器数据进行信息融合,得到对载体导航参数的最优估计。设计了工程样机,并进行了实验室测试与用户工程使用测试,结果表明,静态下产品的俯仰≤0.015°,滚动≤0.015°;动态下产品的俯仰≤0.025°(1σ),滚动≤0.025°(1σ)。Since the high precision inertial sensor is very expensive, the application and dissemination of the inertial navigation system have been limited to a certain extent. For this reason,a structure and scheme of a low-cost micro inertial measurement unit （MIMU）/Encoder integrated precision attitude heading reference system suitable for the practical applications of some radar vehicles has been proposed in this work. The mathematic models of the initial alignment and the integrated attitude heading reference system have established. The initial heading alignment was carried out by receiving the north-seeking results of the flexible gyroscope north-seeker. By considering the working mode, the two velocity error observed quantities and the three position error observed quantities of Kalman filter were 0 after deducting the lever-arm effect. The information fusion of the strapdown inertial navigation resolu- tion and the data of the heading encoder was carried out by the Kalman filtering,thus the optimal estimation of the carrier navigation parameters has been obtained. A practical prototype has been designed and fabricated, and has been tested in laboratory and in the userrs working site. The results showed that the pitch precision and the roll precision of the prototype was equal to or less than 0. 015° and 0. 015° respectively in the static state; the pitch precision and the roll precision of the prototype was equal to or less than 0. 025° （1σ） and 0. 025° （1σ） respectively in the dynamic state.

关 键 词：微型惯性测量单元(MIMU) 捷联惯导 卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]