无陀螺惯性测量组合实验系统设计

无陀螺惯性测量组合(Non-gyro InertialM easurem entUn it-NG IMU)是利用线加速度计在空间的组合解算出载体的角速度,同时测量载体的轴向加速度,构成惯性测量组合,应用该方法可以设计出适用的中等精度惯性导航系统.针对目前多种加速度计配置方案,提出NG IMU九加速度计配置方案,该方案直接得出角加速度表达式,有效避免了求解微分方程组.在推导了导航参数计算数学模型的基础上,在国内率先组建了实验系统,设计了数据处理电路,并且进行了角度测试实验.实验结果表明,该系统可以真实反映角度变化趋势,准确描述姿态信息,方案正确可行.

Experiment system design of non-gyro inertial measurement unit

An inertial navigation system with high anti-g capability,low power consumption,small volume and low cost is needed on certain specific occasions.The non-gyro inertial measurement unit(NGIMU) uses the linear accelerometers at different positions in space to calculate the angular velocity and estimate the navigation parameters.Using the traditional accelerometer configurations for reference,a novel nine-accelerometer configuration of NGIMU is proposed with its mathematic model constructed.This configuration can acquire the expressions of the angular accelerations directly and avoid calculating the differential poly-equation.To confirm the effectiveness of the design,the experiment system is set up and the data processing circuit is also implemented. In addition,the experiments of the angle estimation are performed and the results show that the design can reflect the trend of the angle change and estimate the posture parameter accurately.