摘要
无陀螺捷联惯性测量装置与传统捷联惯导系统的主要区别是角速度的获取方式不同,角速度的解算精度是无陀螺捷联惯性导航系统的核心问题,决定了系统的性能及实际应用的可行性。本文剖析了无陀螺捷联惯性测量装置的误差来源,建立了无陀螺捷联惯性导航系统角速度解算数学模型,并重点探讨了加速度计元件误差对角速度解算精度的影响。进行了无陀螺捷联惯性测量装置试验,结果表明,尽管计算误差较大,但无陀螺捷联惯性测量装置可以反映出运动平台的角运动规律,实际应用中对加速度计精度和计算机速度要求较高,另外应寻找更好的算法尽量补偿角速度解算误差。
In gyroscope-free strapdown inertial measurement system（GFSINS）, the angular velocity calculation precision is crucial to the performance and feasibility of the system. In this paper, the error sources of GFSINS are analyzed. The mathematical model is established for resolving the angular velocity, and the influences of accelerometer error on GFSINS are discussed. The GFSINS tests are made which show that the GFSINS could show the angular motion law of the platform in despite of large calculation errors. The precision of accelerometers and the rate of computers should much higher in practical application and better algorithm should be used to compensate the errors of angular velocity.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2010年第5期538-542,共5页
Journal of Chinese Inertial Technology
基金
国家部委基金资助项目(40108070201)
关键词
无陀螺捷联惯导
角速度
计算误差
加速度计
gyroscope free strap-down inertial navigation system
angular velocity
calculation error
accelerometer
