斜置IMU两位置零位调试算法（英文）  

Null adjustment algorithm of oblique installed IMU based on two-position

作　　者：程耀强 杨鹏翔[1] 徐德民[2,3] 张立川[2] CHENG Yaoqiang;YANG Pengxiang;XU Demin;ZHANG Lichuan(Xi’an Institute of Modern Control Technology,Xi’an 710065,China;School of Marine Engineering,Northwestern Polytechnical University,Xi’an 710072,China;National Key Laboratory for Underwater Information Process&Control,Xi’an 710072,China)

机构地区：[1]西安现代控制技术研究所,西安710065 [2]西北工业大学航海学院,西安710072 [3]水下信息处理与控制国家级重点实验室,西安710072

出　　处：《中国惯性技术学报》2019年第6期701-706,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(51379176)

摘　　要：相对于传统正交安装方式,斜置IMU使得惯性测量信息具有更好的可观测性,却为零位辨识增加了难度。针对斜置安装方式的特殊性,提出了斜置IMU两位置零位调试算法。该算法只需选用2个位置,即可估算出IMU的零位。由于同时考虑了安装误差,理论上具有较高的精度,验证试验结果也表明,"两位置"法与"24位置"法精度相当。该算法可以对零位进行便捷调试,已经在工程中推广应用。Compared with traditional orthogonal installed Inertial Measurement Unit(IMU), the oblique installed IMU has better observability of measurement information, but it is more difficult to identify the nulls. Aiming at the particularity of the oblique IMU, a two-position null adjustment algorithm is proposed. By this algorithm, the nulls of the oblique installed IMU can be estimated only by selecting two positions from 24 positions that IMU can be put on. This algorithm takes into account the installation errors between the gyroscope/accelerometer and the IMU and therefore has higher theoretical precision. The verification experiment results indicate that the precision of the "two-position" algorithm is equivalent to that of the "24-position" algorithm. This algorithm is more convenient to adjust the nulls and has been applied in engineering field.

关 键 词：惯性组件 斜置 零位调试 两位置 

分 类 号：U666.1[交通运输工程—船舶及航道工程]