引用本文: 覃方君, 许江宁, 李安. 一种新型9加速度计无陀螺惯导系统解算方法[J]. 武汉大学学报 ( 信息科学版), 2012, 37(3): 278-281.
QIN Fangjun, XU Jiangning, LI An. A New Calculative Method for Gyro-Free Inertial Navigation System Using 9Accelerometers[J]. Geomatics and Information Science of Wuhan University, 2012, 37(3): 278-281.
 Citation: QIN Fangjun, XU Jiangning, LI An. A New Calculative Method for Gyro-Free Inertial Navigation System Using 9Accelerometers[J]. Geomatics and Information Science of Wuhan University, 2012, 37(3): 278-281.

## A New Calculative Method for Gyro-Free Inertial Navigation System Using 9Accelerometers

• 摘要: 提出了一种新型的9加速度计无陀螺惯导系统配置方法,由角速度平方的开方运算求得角速度数值,由角加速度积分求得角速度正负号,两者组合求解角速度,能消除角速度解算时的积分迭代误差。三维的角速度平方、角加速度和线加速度均作为9个独立变量参与系统解算,且仅由9加速度计输出的线性组合得到,解算简单,计算量小,能避免“除零”错误和耦合误差;同时,加速度计数目是该类解算方法中最少的。仿真结果验证了该方法的可行性和有效性。

Abstract: Errors of gyro free inertial navigation system(GF-INS) using 6 accelerometers grow faster with time comparing with the conventional inertial navigation system(INS),for the reason that it has one more integral operation when calculating the angular velocity.To improve the accuracy of GF-INS,a novel scheme of 9 accelerometers GF-INS is proposed and a new calculative method is discussed,which can eliminate the iterative errors of integral operation for angular velocity calculation and calculate linear acceleration with the difference of outputs of accelerometers only.So the constant biases of Accelerometers and coupling errors from angular movement can been eliminated.This scheme can calculate squares of angular velocity,angular accelerations and linear accelerations with only the linear combination of outputs of 9 Accelerometers,so the computation is very simple and timesaving.This schome regards three-dimensional squares of angular velocity,angular accelerations and linear acclerations as 9 independent variables,so the 9 accelerometers GF-INS has the least accelerometers.The simulation results show that the divergence of errors is restrained remarkably with the new calculative method.

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