惯性测量单元参数与姿态对粗对准误差影响分析  

Analysis of Coarse Alignment Errors for IMU Parameters and Attitude

作　　者：王泽国[1] 王志文[1] 王华强[1] 王云鹏 王磊[1] 李莹[1] WANG Zeguo;WANG Zhiwen;WANG Huaqiang;WANG Yunpeng;WANG Lei;LI Ying(Beijing Institute of Control Engineering,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094

出　　处：《空间控制技术与应用》2022年第4期64-69,共6页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(61803029)。

摘　　要：根据惯性测量单元(IMU)得到静态下粗对准结果,分析IMU参数与地理系姿态对粗对准误差影响.给出理想IMU模型,给出静态下理想IMU角速度和加速度输出结果.考虑IMU参数,包括陀螺漂移、加速度计零偏和安装指向偏差不确定情况下,得到实际估计的IMU输出结果.根据估计结果利用双矢量定姿方法得到IMU本体系相对天东北地理系的自对准结果,并比较估计粗对准结果与理想结果之间误差,给出了误差矩阵的物理意义.针对三种IMU参数工况给出了不同姿态下粗对准误差结果的打靶仿真.最后通过实验结果验证此方法可以用于IMU指标要求符合性分析.Coarse alignment based on Inertial Measurement Unit(IMU)is considered in the case of static position.Error analysis is provided for the IMU parameters and attitude with respect to local navigation frame.An ideal IMU model is first given and ideal IMU outputs,which consist of angular rates and accelerations,can be obtained.Then,actual IMU outputs are obtained with the consideration of uncertainties in IMU parameters,including gyro drift,accelerometer bias,and misalignment deviations.A standard coarse alignment method is implemented and the transformation matrix between IMU body frame and navigation frame can be obtained directly.The coarse alignment error is analyzed and its practical meaning is given.Numerical simulations illustrate the alignment errors for three cases with different IMU parameters,and the error is compared with IMU body attitude.Finally,experimental results are presented to show that this method could help validate the correctness of IMU measurement output.

关 键 词：惯性测量单元 粗对准 误差分析 安装误差 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]