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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:DING Ming-li,LIANG Ting-wei,WANG Qian.A new compensation method for angular rate estimation of non-gyro inertial measurement unit[J].Journal of Harbin Institute Of Technology(New Series),2009,16(6):761-765.DOI:10.11916/j.issn.1005-9113.2009.06.005.
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A new compensation method for angular rate estimation of non-gyro inertial measurement unit
Author NameAffiliation
DING Ming-li School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China 
LIANG Ting-wei School of Astronautics, Harbin Institute of Technology, Harbin 150001, China 
WANG Qian School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China 
Abstract:
A new compensation method for angular rate estimation of non-gyro inertial measurement unit (NGIMU) is proposed in terms of the existence of accelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional accelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.
Key words:  inertial navigation  non-gyro  angular rate estimation  mounting location
DOI：10.11916/j.issn.1005-9113.2009.06.005
Clc Number:TP274
Fund:

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