调制型惯导中IMU单轴旋转方法及其误差特性分析

doi:10.16182/j.issn1004731x.joss.201806052

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (6): 2414-2421.doi: 10.16182/j.issn1004731x.joss.201806052

• 仿真应用工程 • 上一篇

调制型惯导中IMU单轴旋转方法及其误差特性分析

孙伟, 李瑞豹, 张远, 杨聃

辽宁工程技术大学测绘与地理科学学院,辽宁阜新 123000

收稿日期:2016-08-03 修回日期:2016-10-22 出版日期:2018-06-08 发布日期:2018-06-14
作者简介:孙伟(1984-),男,黑龙江,博士,教授,研究方向为惯性器件数据处理。
基金资助:
辽宁省教育厅高等学校基本科研项目(LJ2017FAL005), 辽宁省“百千万人才工程”培养经费资助(辽百千万立项[2015]76号)、城市空间信息工程北京市重点实验室经费资助项目(2018206)

IMU Single-axis Rotation Method and Error Analysis of Modulation Inertial Navigation System

Sun Wei, Li Ruibao, Zhang Yuan, Yang Dan

School of Geomatics, Liaoning Technical University, Fuxin 123000, China

Received:2016-08-03 Revised:2016-10-22 Online:2018-06-08 Published:2018-06-14

摘要/Abstract

摘要： 针对惯性器件偏差是影响系统精度进一步提高的问题,提出一种惯性测量单元(inertial measurement unit,IMU)输入轴与转轴非重合安装的单轴连续正反转误差调制方案。将IMU相对旋转机构非重合安装,根据IMU中惯性器件精度均处相同量级,利用器件偏差在旋转轴方向上的正负相消及转轴垂直平面内的旋转调制实现其对称部分的器件偏差的有效抵消。分析该方案对于改善惯性器件标度因数和安装误差对系统精度的影响。建立模拟实验环境,利用仿真与实验结果验证该方案的可行性与优势。

关键词: 惯导系统, 误差调制, 单轴旋转, 非重合

Abstract: Aiming at the problem that inertial device bias has an influence on the improvement of system precision, a single axis error modulation scheme whose sensitive axis is misalignment with rotation axis which can continuously rotate in clockwise and counterclockwise is proposed. Based on the same level precision of inertial components in IMU, the IMU is installed on rotation mechanism with non-coincidence. The symmetric part of inertial device deviation can be compensated by the positive and negative cancellation of the device deviation in the rotation axis direction and the rotation modulation in the vertical plane of the rotary axis. The scheme influence on system precision by improving inertial device scale factor and installation error is analyzed. Simulation experiment environment is built and the feasibility and advantage of the scheme is verified by its simulation results.

Key words: inertial navigation system, error modulation, single-axis rotation, non-coincidence

中图分类号:

U666.1

孙伟, 李瑞豹, 张远, 杨聃. 调制型惯导中IMU单轴旋转方法及其误差特性分析[J]. 系统仿真学报, 2018, 30(6): 2414-2421.

Sun Wei, Li Ruibao, Zhang Yuan, Yang Dan. IMU Single-axis Rotation Method and Error Analysis of Modulation Inertial Navigation System[J]. Journal of System Simulation, 2018, 30(6): 2414-2421.

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调制型惯导中IMU单轴旋转方法及其误差特性分析

IMU Single-axis Rotation Method and Error Analysis of Modulation Inertial Navigation System

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