Analysis and Calibration on Installation Errors of Accelerometer in GFSINS
Aim at the precision limitation for calculating angular velocity because of installation errors of accelerometer in the gyro free strapdown inertial navigation system (GFSINS), a calibration method of installation error parameters is put forward. Based on a six-accelerometer configuration scheme, the calculating method of angular velocity and linear acceleration is analyzed, and the accelerometer output error resulting from accelerometer installation errors is deduced. On the stationary base, the accelerometer output value is obtained in the three different positions by twice axis rotation of inertial measurement unit, then, all the installation error parameters of accelerometer are given. Simulation results show that the calibrating method is feasible. After calibration and compensation for installation errors, the calculation precision of angular velocity is improved by 1 order of magnitude in 100s time.
GFSINS installation errors accelerometer calibration angular velocity
Yanling Hao Zhiping Liu
College of Automation, Harbin Engineering University, Harbin 150001, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2043-2047
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）