关于无陀螺惯性导航系统粗对齐的注意事项
Heyone Kim1, Jae-Hoon Son2, Sang-Heon Oh3
1Advanced Technology Research Team, Hyundai Rotem, Uiwang-si 16082, Republic of Korea.
Sensors (Basel, Switzerland)
|July 8, 2023
概括
无陀螺的惯性导航系统 (GF-INS) 的初始调整是具有挑战性的. 使用加速度计的新方法可以提高初始方向精度,但辅助传感器对于实际的GF-INS性能至关重要.
科学领域:
- 导航系统 导航系统
- 惯性导航 惯性导航 惯性导航
- 传感器技术 传感器技术
背景情况:
- 无陀螺的惯性导航系统 (GF-INS) 提供了潜在的优势,但面临着对齐挑战.
- 由于无法测量地球速度,用于初始航线确定的传统方法不能直接适用于GF-IMU.
研究的目的:
- 调查GF-INS.初始调整的可行性.
- 通过使用GF-IMU加速度计输出来推导和分析一种新的方法来确定初始航线.
- 评估传感器错误对初始方向准确性的影响.
主要方法:
- 使用常规的INS平面化用于初始滚动和俯冲的确定.
- 根据来自特定配置的GF-IMU加速度计数据,推导出初始航线计算的新式方程.
- 量化分析了关于传感器排列和加速度计性能的初始方向错误.
- 当陀螺仪与GF-IMU集成时,研究了方向错误.
主要成果:
- 一个新的方程允许在特定条件下从GF-IMU加速度计输出进行初始航线计算.
- 最初的航向误差对陀螺仪的性能比加速度计的性能更敏感.
- 仅仅使用GF-IMU来实现实际的初始定位准确性,即使使用高精度加速度计,也是不可能的.
结论:
- 辅助传感器对于在GF-INS.中实现实际的初始定位准确性是不可或缺的.
- 由于GF-IMU的性能限制,需要外部传感器集成以实现可靠的导航.
- 对于强大的GF-INS对齐,需要对传感器融合策略进行进一步研究.
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