| 无陀螺惯性测量组合姿态解算新方法 |
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| 引用本文： | 丁明理,王祁,宋凯.无陀螺惯性测量组合姿态解算新方法[J].哈尔滨工业大学学报,2006,38(7):1025-1027,1058. |
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| 作者姓名： | 丁明理 王祁 宋凯 |
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| 作者单位： | 哈尔滨工业大学,电气工程及自动化学院,哈尔滨,150001 |
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| 基金项目： | 黑龙江省自然科学基金(E2004-15)，黑龙江省博士后基金，哈尔滨工业大学优秀青年教师培养计划资助项目 |
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| 摘 要： | 从加速度计配置的一般性出发,在加速度计安装位置存在偏差的实际条件下,提出了具有补偿效应的无陀螺惯性测量组合姿态算法．该算法通过推导加速度计输出误差方程,在传统算法中进行相应补偿以达到减小误差的目的．同时针对目前多种加速度计配置方案,提出了9加速度计配置方案．在此方案基础上进行了算法仿真．仿真结果表明该算法可有效提高角度估算精度．
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| 关 键 词： | 惯性导航 无陀螺 加速度计 姿态解算 |
| 文章编号： | 0367-6234（2006）07-1025-03 |
| 收稿时间： | 2004-12-03 |
| 修稿时间： | 2004-12-03 |
New method for posture estimating of non-gyro inertial measurement unit |
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| DING Ming-li,WANG Qi,SONG Kai.New method for posture estimating of non-gyro inertial measurement unit[J].Journal of Harbin Institute of Technology,2006,38(7):1025-1027,1058. |
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| Authors: | DING Ming-li WANG Qi SONG Kai |
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| Abstract: | Non-gyro inertial measurement unit(NGIMU)uses only accelerometers replacing gyroscopes to compute the motion of a moving body.A new compensation method for posture estimating of NGIMU is pro- posed on the actual condition of existing the accelerometer mounting error,which seriously affects the precision of the navigation parameter estimation.The algorithm uses the error function of the accelerometer output,and compensates the posture parameter in the traditional posture estimating algorithm to reduce the accelerometer mounting error.Using the traditional accelerometer configurations for reference,a novel nine-accelerometer configuration of NGIMU is also presented with its mathematic model constructed.The simulations of the pro- posed algorithm are investigated based on the presented NGIMU configuration.The simulation results show that the new algorithm can effectively improve the precision of the angle estimating. |
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| Keywords: | inertial navigation non-gyros accelerometer posture estimating |
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