惯性测量组合的优化设计与误差补偿算法研究

设计了九加速度计惯性测量组合用于测量飞行体的姿态和位置。通过理论分析和计算机仿真,结果显示由9个加速度计的输出可解算出载体运动角速度和线加速度,但由于加速度计的测量误差引起的角速度的解算误差会随飞行时间的增长而累积,采用误差补偿算法可有效地减小误差。另对加速度计位置误差进行了理论分析和仿真,结果表明,由加速度计组合的惯性测量方案对加速度计位置误差非常敏感。

Optimization design and research on error compensation algorithm of inertial measurement unit

A nine-accelerometer inertial measurement unit used for calculating posture and position of flight body is designed. The theoretical analysis and computer simulation show that outputs of nine accelerometers can be calculated to get the value of the body's angular rate and linear acceleration, but calculating error of angular rate caused by measuring error of accelerometer will get larger with accumulation of flight time. Error-compensation algorithm can be used to effectively reduce the error. In addition, through theoretical analysis and simulation are made for positioning error of accelerometer. Its result shows inertial measurement unit combined by accelerometers is very sensitive to positioning error of accelerometer.