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首页> 外文会议>International Conference on Computer, Control and Robotics >Accuracy Improvement of a Redundant Inertial Measurement Unit Brought about by the Dual-Axis Rotational Motion
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Accuracy Improvement of a Redundant Inertial Measurement Unit Brought about by the Dual-Axis Rotational Motion

机译：双轴旋转运动带来冗余惯性测量单元的精度改进

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The inertial measurement unit (IMU) can achieve high reliability by configuring redundant sensors. However, the improvement in navigation accuracy of the redundant inertial measurement unit (RIMU) is minor. To achieve high accuracy and high reliability of the inertial navigation system (INS), a novel method to control dual-axis rotation of the RIMU to compensate its errors is proposed in this paper. First, a general error model of RIMU which can be applied to various sensor configurations is established. Second, the dual-axis turntable in INS is controlled to make the RIMU rotate periodically which can compensate the errors and improve the navigation accuracy. However, the effect of error compensation by rotation will be reduced when the vehicle is in angular motion, so a method of dual-axis rotational motion based on navigation frame which can alleviate the negative effect caused by the angular motion of vehicle is proposed. Simulation results show that the proposed method can greatly improve the navigation accuracy whether the vehicle is in angular motion or not.
机译：惯性测量单元（IMU）可以通过配置冗余传感器来实现高可靠性。然而，冗余惯性测量单元（RIMU）的导航精度的提高是次要的。为了实现惯性导航系统（INS）的高精度和高可靠性，提出了一种控制RIMU双轴旋转以补偿其误差的新方法。首先，建立可以应用于各种传感器配置的RIMU的一般误差模型。其次，控制IN的双轴转盘以使RIMU定期旋转，可以补偿误差并提高导航精度。然而，当车辆处于角度运动时，将通过旋转减少误差补偿的效果，因此提出了一种基于导航框架的双轴旋转运动的方法，这提出了可以缓解由车辆角运动引起的负效应的导航框架。仿真结果表明，该方法可以大大提高导航准确性车辆是否处于角度运动。

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