计测技术
計測技術
계측기술
METROLOGY & MEASUREMENT TECHNOLOGY
2014年
4期
34-37,62
,共5页
低成本惯性导航系统%捷联解算%MEMS陀螺%石英挠性加速度计
低成本慣性導航繫統%捷聯解算%MEMS陀螺%石英撓性加速度計
저성본관성도항계통%첩련해산%MEMS타라%석영뇨성가속도계
low-cost SINS%strapdown algorithm%MEMS gyroscope%quartzose flexible accelerometer
介绍了一种基于MEMS陀螺和石英挠性加速度计的低成本捷联惯性导航系统的设计与实现方法。给出了惯性测量单元( IMU)的模型方程，并在全温下对IMU的输出进行补偿；采用“四元数”法进行姿态计算，通过坐标变换、积分运算确定载体的速度、位置；对惯测样机进行了60 s的静态测试，结果表明该系统短期准确度满足SINS/GPS组合导航系统需求。
介紹瞭一種基于MEMS陀螺和石英撓性加速度計的低成本捷聯慣性導航繫統的設計與實現方法。給齣瞭慣性測量單元( IMU)的模型方程，併在全溫下對IMU的輸齣進行補償；採用“四元數”法進行姿態計算，通過坐標變換、積分運算確定載體的速度、位置；對慣測樣機進行瞭60 s的靜態測試，結果錶明該繫統短期準確度滿足SINS/GPS組閤導航繫統需求。
개소료일충기우MEMS타라화석영뇨성가속도계적저성본첩련관성도항계통적설계여실현방법。급출료관성측량단원( IMU)적모형방정，병재전온하대IMU적수출진행보상；채용“사원수”법진행자태계산，통과좌표변환、적분운산학정재체적속도、위치；대관측양궤진행료60 s적정태측시，결과표명해계통단기준학도만족SINS/GPS조합도항계통수구。
A low-cost strapdown inertial navigation system based on MEMS gyroscope and quartzose flexible accelerometer was designed and implemented. Static model equations of IMU were provided. The real-time compensation was completed between -40℃ and +60℃. As for the system, the method of quaternion is used for attitude calculation, and the velocity and position of a carrier are confirmed by coordinate transforma-tion and integral operation. The operation result of 60 seconds static test shows that IMU short-term precision is high, and it can meet the require-ment of SINS/GPS integrated navigation system.
