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无陀螺微惯性测量组合的优化算法研究
引用本文:王劲松,王祁,孙圣和.无陀螺微惯性测量组合的优化算法研究[J].哈尔滨工业大学学报,2002,34(5):632-635.
作者姓名:王劲松  王祁  孙圣和
作者单位:哈尔滨工业大学自动化测试与控制系,黑龙江,哈尔滨,150001
基金项目:国防重点项目课题 (0 0 0 5NT0 0 67),航天科技创新基金资助项目 (2 0 0 1-0 9)
摘    要:无陀螺微惯性测量组合是利用线加速度计空间的组合解算法载体的角速度,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,在国外学者研究的基础上改进了9加速度计的模型,提出一种新疆的解算算法,抑制了迭代误差,该算法利用传感器的冗余信息直接求得所测量的角度速度的绝对值,及时修正微分方程的解,减少了解微分方程组所带来的累积误差,降低了惯性测量组合的漂移,经过仿真计算验证了该方案的可行性。

关 键 词:优化算法  惯性导航  微惯性测量组合  加速度计
文章编号:0367-6234(2002)05-0632-04
修稿时间:2001年12月10

Optimum technology for non- gyro micro inertial measuring unit
WANG Jin song,WANG Qi,SUN Sheng he.Optimum technology for non- gyro micro inertial measuring unit[J].Journal of Harbin Institute of Technology,2002,34(5):632-635.
Authors:WANG Jin song  WANG Qi  SUN Sheng he
Abstract:An inertial navigational system with high anti g capability, low power consumption, small volume and low cost is needed on certain specific occasions. By using linear accelerometers unit at the different positions in space, a non-gyro micro inertial measuring unit is used to calculate the angular velocity and sense the axial acceleration of the carrier. A feasible inertial navigational system with medium accuracy can be designed in this way. The nine accelerometers were improved based on researched by foreign scholars and a novel calculation method was proposed to control the iterative error. The redundant information of sensors was used directly to calculate the absolute value of measured angular velocity and correct the solutions of differential equations thereby diminishing the accumulative errors for the solution of differential equations and reducing the shift of an inertial measurement unit.
Keywords:inertial navigation  micro inertial measurement unit  accelerometer
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