压电捷联惯导系统研究

探讨了用压电惯性器件构筑捷联惯导系统的技术途径。叙述了压电捷联惯导系统的结构及特点,分析并指出了惯性器件及系统的主要误差源,为压电陀螺和压电加速度计提出了一种系统级综合校正模型．给出了基于四元数的姿态及导航实时算法,对校正后的系统性能进行了仿真计算。结果表明,压电捷联惯导系统精度可以满足一些领域的导航与制导要求。对原理样机所做初步试验得到的结果优于仿真精度。

Strapdown Inertial Guidance System Consi sting of Piezoelectric Inertial Sensors

The technical w ay to build inertial guidance system wit h piezoelectric inertial sensors is disc ussed and this strapdown system has the typical performances of low cost,miniatu re dimension,high reliability,DC power a nd low energy consumption．Main errors in  the inertial elements and in the system  are analyzed and pointed out．The system -level correction models both for piezoe lectric gyroscope and for piezoelectric accelerometer are presented．The real-tim e attitude and navigation algorithms bas ed on quaternions are given．Computer sim ulation results show that the accuracy o f the system calibrated satisfies the gu idance and navigation requirements of so me vehicles．The real accuracy of a proto type system gained from elementary exper iments is much better than the simulated ．