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首页> 外文会议>Proceedings of the 22nd international technical meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2009) >Turntable calibration of an optimal Gyro-Free-IMU and its application in a full state integrated INS-GNSS System
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Turntable calibration of an optimal Gyro-Free-IMU and its application in a full state integrated INS-GNSS System

机译：最佳无陀螺-IMU的转台校准及其在全状态集成INS-GNSS系统中的应用

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Spatial distributed MEMS accelerometers seem to be an economically attractive and alternate way to gyros by indirectly measuring the turn rates of vehicles. Considering the lever arms between the Inertial Measurement Unit(IMU)reference point and the accelerometers,the rotary acceleration in relation to the IMU reference rotary axis can be determined and integrated to turn rates.Recent publications on a so called Gyro-Free IMU(GF-IMU)describe different geometries for the distribution of the sensors in the GF-IMU and it is shown that an optimal configuration can be found[1]. This configuration offers the possibility of measuring angular acceleration independently of the actual turn rate in order to keep the transfer behavior stable. rnThis concept has been used to construct and build a GF- IMU based on MEMS accelerometers(Figure 1)within the research project UniTaS IV which is going on at the Institute of Flight Guidance(IFF)of the Technische Universitaet Braunschweig and funded by the German Federal Ministry of Economic and Technology.This paper deals with the specific constraints of calibrating the GF-IMU using turntables,the development of the integrated system and the evaluation of the overall system by means of flight trials. rnTherefore,the basic equations are introduced in combination with the underlying sensor correction model. In order to determine the parameters of the correction model a calibration procedure is developed and its results are discussed. rnAfterwards,the necessary navigation differential equations for a generalized GF-IMU are shortly introduced together with the principles of deriving a coupling filter model.This model is finally applied in a filter and verified using a simulation based on real flight tests as well as real GF-IMU data from dynamic tests with the institute’s own test vehicle.
机译：通过间接测量车辆的转弯速度，空间分布式MEMS加速度计似乎是陀螺仪的一种经济诱人的替代方法。考虑到惯性测量单元（IMU）参考点和加速度计之间的杠杆臂，可以确定相对于IMU参考旋转轴的旋转加速度并将其积分以求转率。所谓的无陀螺IMU（GF） -IMU）描述了GF-IMU中传感器分布的不同几何形状，并表明可以找到最佳配置[1]。这种配置提供了独立于实际转弯率测量角加速度的可能性，以保持传递性能稳定。 rn这个概念已经被用于在MEMS加速度计的基础上构建和构建GF-IMU（图1），该研究项目是由不丹理工大学飞行指导研究所（IFF）进行的UniTaS IV研究，由德国资助联邦经济技术部。本文讨论了使用转盘校准GF-IMU的具体限制，集成系统的开发以及通过飞行试验对整个系统进行评估的问题。因此，结合基本的传感器校正模型引入了基本方程式。为了确定校正模型的参数，开发了校准程序并讨论了其结果。 rn然后，简要介绍了广义GF-IMU所需的导航微分方程，并推导了耦合滤波器模型的原理。该模型最终应用于滤波器，并使用基于真实飞行测试和真实GF的仿真进行了验证-使用研究所自己的测试工具进行动态测试的IMU数据。

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