摘要
基于六加速度计的立方体配置方案,提出了九加速度计的无陀螺惯性测量组合(NGIMU)配置方案,并建立了其数学模型。提出了一种提高角速度解算精度的新算法,该算法利用加速度计的冗余信息,解决了角速度运算的符号问题,抑制了由于角加速度积分带来的加速度计输出误差的累积。同时进行了系统东西向位移、航向角、俯仰角和横滚角的仿真。仿真结果验证了方案的可行性和算法的有效性。
A new nine-accelerometer configuration of non-gyro inertial measurement unit （NGIMU） is proposed based on a conventional six-accelerometer configuration, and its mathematic model is constructed. A novel algorithm for estimating the angular velocity is also provided to improve the estimating precision. The algorithm uses the redundant information of the accelerometer outputs to solve the sign problem of the angular velocity and to alleviate the error accumulation which arises from integrating the angular acceleration. A simulation case for estimating the displacement, the head angle, the pitch angle and the roll angle is investigated. The simulation results show the feasibility of the configuration and the effectiveness of the algorithm.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2007年第2期210-213,共4页
Journal of Nanjing University of Science and Technology
基金
黑龙江省自然科学基金(E2004-15)
哈尔滨工业大学优秀青年教师培养计划
关键词
惯性导航
无陀螺
加速度计
角速度
inertial navigation
non-gyro
accelerometers
angular rate
