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首页> 外文会议>IFIP TC 5/SIG 5.1 conference on computer and computing technologies in agriculture;CCTA 2011 >Research on Static Decoupling Method of Non-Gyro Micro Inertial Measurement Unit
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Research on Static Decoupling Method of Non-Gyro Micro Inertial Measurement Unit

机译：非陀螺微惯性测量单元的静态解耦方法研究

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摘要

In a non-gyro micro inertial measurement unit (NGMIMU), the coupling error reduces the system measurement precision obviously. Based on the definition of the coupling error, a new static decoupling method applied total least squares (TLS) algorithm is proposed. TLS considers not only the error of accelerometer output, but also the calibrating error of the input signal arising from the couple factor. Based on TLS, the solution of the coupling coefficient equation has the characteristic of minimum norm to the input and output values. In the navigation parameter estimation, according to the relationship of the accelerometer input and output value, the accurate estimated input value can be acquired through fitting the couple coefficient matrix using TLS and reconstructing the input value using Moore-Penrose generalized inverse matrix. A simulation case for estimating angle rate is investigated by this approach. The results show that the ratio of decoupling error is less than 8% and verify the feasibility of the static decoupling method.
机译：在非陀螺仪微惯性测量单元（NGMIMU）中，耦合误差明显降低了系统的测量精度。基于耦合误差的定义，提出了一种应用总最小二乘（TLS）算法的静态去耦方法。 TLS不仅考虑加速度计输出的误差，还考虑由耦合因子引起的输入信号的校准误差。基于TLS，耦合系数方程的解具有对输入和输出值的最小范数的特征。在导航参数估计中，根据加速度计输入和输出值之间的关系，通过使用TLS拟合耦合系数矩阵并使用Moore-Penrose广义逆矩阵重构输入值，可以获取准确的估计输入值。通过这种方法研究了估计角速度的仿真案例。结果表明，去耦误差比小于8％，验证了静态去耦方法的可行性。

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