Optimization design and research on error compensation algorithm of inertial measurement unit
WANG Xiao-qin, BU Xiong-zhu, ZHU Ming-wu (Sch of Mech Engin,Nanjing University of Science and Technology, Nanjing 210094,China)
A nine-accelerometer inertial measurement unit used for calculating posture and position of flight body is designed. The theoretical analysis and computer simulation show that outputs of nine accelerometers can be calculated to get the value of the body's angular rate and linear acceleration, but calculating error of angular rate caused by measuring error of accelerometer will get larger with accumulation of flight time. Error-compensation algorithm can be used to effectively reduce the error. In addition, through theoretical analysis and simulation are made for positioning error of accelerometer. Its result shows inertial measurement unit combined by accelerometers is very sensitive to positioning error of accelerometer.
【CateGory Index】： TH82