The Decoupling Algorithm of Non-gyro Inertial Measurement Unit Based on Fixing Error

摘要：

Non-gyro Inertial Measurement Unit(NGIMU)s fixing error,including location error and orientation error exists in practical using unavoidably. The coupling effect resulted from fixing error will result in accelerometersoutput errors increase so obviously that the attitudes estimating results will deviate real value seriously. In this paper,we designed a decoupling algorithm that based on fixing error.According to angular velocity and other arguments changes successively when sampling rate is very high,we replace the current angular velocity with angular velocity on previous time.so the NGIMUs output equation will have precise solution,which decreased coupling effects resulted from fixing error effectively.At last ,We simulated this algorithm on triaxial rotating desk experimental system.The simulation results implicates this algorithm is valid in decreasing the coupling effects and the estimation of angular velocity precision was improved up to 4 magnitudes. This paper established foundation for pratical using of NGIMU.

关键词： NGIMU location error orientation error coupling effect decoupling

作者: Ma Yanhai Qin Li Wang Hongliang

作者单位: Key Laboratory of Instrumentation Science & Dynamic Measurement (North University of China), Ministry of Education National Key laboratory For Electronic Measurement Technology. Department of Electronic Science and technology, North university of China, T

会议类型: 国际会议

会议名称: 第七届国际测试技术研讨会

会议地点: 北京

会议语种:英文

在线出版日期: 2007-08-05（万方平台首次上网日期，不代表论文的发表时间）