摘要
为提高惯性导航系统的精度和可靠性,设计了一种基于冗余MEMS-IMU的惯性导航系统(3 MEMS-IMU分别斜置安装在正四面体的3个面上),并针对该系统的惯性测量单元(IMU)进行了误差分析,建立了精确的误差补偿数学模型。在此基础上提出了一种标定方法,给出了计算误差模型参数的推导过程以及各误差参数的数学表达式。通过多组试验验证了该方法简单可靠,可以有效估计出各误差参数,并能有效进行误差补偿,标定精度较高,适用于短时间、低中精度导航系统.
To improve the accuracy and reliability of the inertial navigation system, an inertial navigation system based on redundant MEMS-IMU was designed （3 MEMS-IMUs were installed obliquely at three surfaces of a regular tetrahedron）. And the error of the IMU was analyzed and a precise mathematical model of error compensation was established. A calibration method was proposed, and a detailed derivation of the calculation of error parameters and mathematical expressions of all error parameters were given. Many groups of experiments proved that the method is simple and reliable and can estimate each error parameters effectively, and can carry out error compensation effec- tively, which has high calibration precision, suitable for short-time, low or medium precision inertial navigation system.
出处
《应用科技》
CAS
2015年第2期9-12,共4页
Applied Science and Technology
基金
国家自然科学基金资助项目(51309059)
