基于角速率的加速度计阵列误差系数标定方法的研究
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摘要
全加速度计微惯性测量组合就是指惯性测量组合中不用陀螺测量角速度,而在利用线加速度计测量线加速度的同时,根据线加速度计的空间位置组合解算出角速度,从而得到惯性测量的全部参数,达到姿态测算的目的。该组合具有抗高加速度值冲击、低功耗、小体积、低成本的特点,适用于某些特定场合,如战术导弹、智能炮弹等。因此,对全加速度计阵列惯性测量组合的研究不但具有重要的学术意义,而且在国防领域也有重要的应用价值。
由于加速度计自身的因素,加速度计输出存在刻度因子、固定偏置、安装、耦合等误差,因此需要对加速度计各误差系数进行标定。
加速度计标定的前提是必须建立相应的加速度计误差输出模型,本文在十二加速度计配置方案的基础上建立了新的加速度计误差输出静态和动态模型,在此基础上对加速度计各项误差系数进行标定,通过误差修正,最终实验结果表明该了方法的有效性。
In an all accelerometers micro inertial measurement unit,the accelerometers are not only used to acquire the linear acceleration, but also replace the gyroscopes to compute the angular rate according to their positions in three-dimension space,which has the advantages of anti-high g value shock, low power consumption,small volume and low cost. It can be applied to some specific occasions such as the tactic missiles, the intelligent bombs and so on. So, the study on it has not only the important academic significance but also the application values in the field of national defense.
In virtue of its own factors,accelerometer has Scale factor error, bias, random noise and assemble error which are Direction error , location error, coupling error and so on.So,we should demarcate all of the error coefficient of the accelerometer.
Accelerometer calibration must be established on the premise that the accelerometer output model, this paper established a new static and dynamic accelerometer error output model based on twelve accelerometers’configuration. Calibrationed coefficients the error of the accelerometer on the basis of the error utput model, through error correction, the final experimental results show that the effectiveness of the proposed method.
由于加速度计自身的因素,加速度计输出存在刻度因子、固定偏置、安装、耦合等误差,因此需要对加速度计各误差系数进行标定。
加速度计标定的前提是必须建立相应的加速度计误差输出模型,本文在十二加速度计配置方案的基础上建立了新的加速度计误差输出静态和动态模型,在此基础上对加速度计各项误差系数进行标定,通过误差修正,最终实验结果表明该了方法的有效性。
In an all accelerometers micro inertial measurement unit,the accelerometers are not only used to acquire the linear acceleration, but also replace the gyroscopes to compute the angular rate according to their positions in three-dimension space,which has the advantages of anti-high g value shock, low power consumption,small volume and low cost. It can be applied to some specific occasions such as the tactic missiles, the intelligent bombs and so on. So, the study on it has not only the important academic significance but also the application values in the field of national defense.
In virtue of its own factors,accelerometer has Scale factor error, bias, random noise and assemble error which are Direction error , location error, coupling error and so on.So,we should demarcate all of the error coefficient of the accelerometer.
Accelerometer calibration must be established on the premise that the accelerometer output model, this paper established a new static and dynamic accelerometer error output model based on twelve accelerometers’configuration. Calibrationed coefficients the error of the accelerometer on the basis of the error utput model, through error correction, the final experimental results show that the effectiveness of the proposed method.
引文
[1]丁明理,王祁,无陀螺惯性测量组合研究现状概述,中国惯性技术学报,2005年8月,第13卷第4期,83-88
[2] Alfred R.Schuler,Measuring Rotational Motion with Linear Acceleromters,IEEE Trans,On AES,1967,AES-3(3):465-471
[3]熊永虎,北京理工大学学位论文,弹道修正引信无陀螺捷联惯性测量方法研究,北京理工大学,2001
[4]王晓沁,卜雄洙,朱明武,惯性测量组合的优化设计与误差补偿算法研究,传感器技术,2003,Vol.22,NO.12,34-37
[5] Chin-Woo Tan, Kirill Mostov, and Pravin Varaiya, Feasibility of A Gyroscope-free Inertial Navigation System for Tracking Rigid Body Motion(May 1, 2000),California Partners for Advanced Transit and Highways (PATH), Research Reports: Paper UCB-ITS-PRR-2000-9.
[6] Sungsu Park,Chin-Woo Tan ,A scheme for improving the performance of a gyroscope-free inertial measurememt unit,Sensors and Actuators A 121 (2005) 410-420
[7] W.Ang,P.Khosla,and C.Riviere,Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument, IEEE International Conference on Robotics and Automation, IEEE, September, 2003, pp. 1781-1786
[8] Xiaoying Kong. INS algorithm using quaternion model for low cost IMU. Robotics and Autonomous Systems.2004, 46:221-246
[9] Sungsu Park, Chin-Woo Tan, Joohyuk Park. A scheme for improving the performance of a gyroscope-free inertial measurement unit . Sensors and Actuators.2005,121: 410-420
[10] J. Gao . P. Webb, N. Gindy.Research on an inertial positioning systemfor a parallel kinematic machine Mechatronics.2005,15:1-22
[11] Eun-Seok,Wook Chang,Development of the Gyro-free Handwriting Input Device based on Inertial Navigation System (INS) Theory,SICE Annual Conference in Sapporo August 4-6,2004
[12] Yong Li, Andrew Dempster, Binghao Li, A low-cost attitude heading reference system by combination of GPS and magnetometers and MEMS inertial sensors for mobile applications, Proc GNSS 2005, Hong Kong, Dec 8-10 2005
[13] K. Lai and J. Crassidis, University at Buffalo, Amherst, NY; R. Harman, NASA Goddard, Greenbelt, MD, AIAA-2004-4855
[14]闫冬,吉林大学学位论文,基于加速度计的无陀螺惯性导航系统的研究,吉林大学,2003
[15]陈杏圆,梁智惟,无陀螺式之惯性导航系统,中华民航学会联合学术研讨会,2004AASRC/CCAS Joint Conference
[16]王劲松,王祁,孙圣和,无陀螺微惯性测量装置,传感器技术, 2003 Vol.22 No.4:43-45
[17]王晓沁,李永新,朱明武,全加速度计惯性测量的优化设计及仿真分析,弹道学报,2003 Vol.15 No.4:12-16
[18]屈新芬,谭惠民,商顺昌,捷联惯性测量单元配置方案及比较,探测与控制学报,2005 Vol.27 No.3:59-64
[19]何昆鹏,哈尔滨工程大学学位论文,捷联惯导系统姿态角快速对准技术研究,哈尔滨工程大学,2004
[20]赵玉霞,大连理工大学学位论文,捷联惯导系统仿真算法的研究及其实现,大连理工大学,2005
[21]牛绿原,南京理工大学学位论文,捷联惯导方法在发射武器系统中的应用研究,南京理工大学,2007
[22]皮运生,苏州大学学位论文,低成本GPS_SINS组合导航系统,苏州大学,2007
[23]袁信,导航系统[M],北京,航空工业出版社,1993
[24]邓正隆,惯性技术[M],哈尔滨,哈尔滨工业大学出版社,2006
[25]张会新,中北大学学位论文,飞行体姿态测试及仿真技术研究,中北大学,2005
[26]许卫星,中北大学学位论文,基于全加速度计惯性测量系统的理论研究与仿真测试,中北大学,2006
[27]孙金玮.基于总体最小二乘的多功能传感器信号重构方法研究.电子学报.2004,03:391-394
[28]卞峰伟,哈尔滨工业大学学位论文,无陀螺惯性测量单元的信号处理研究,哈尔滨工业大学,2001
[29]马宝国,周世勤,惯性级干涉型光纤陀螺仪研制现状,飞航导弹,1999,(1):23-26
[30] A..Matthews.Utilization of Fiber Optic Gyros in inertial Measurement Units.Navigation.1990.37(1):17-38
[31]杨畅,航天惯性仪表40年与未来趋势,导弹与航天运载技术,2000,(1):35-40[6]http://www.JR3.com/
[32] R.D.Sill±70g Full Scale Accelerometer Designed to Survive 100,000g Overrange.Environmental Engineering.1993,6(4):27-31
[33]张会新,中北大学学位论文,飞行体姿态测试及仿真技术研究,中北大学,2005
[34] L.D.DiNapoli.The Measurement of Angular Velocities without the Use ofGyros.M.S.thesis,The Moore School of Electrical Engineering,University of Pennsylvania, Philadelphia,1965:34-41
[35] Alfred R.Schuler,Measuring Rotational Motion with Linear Acceleromters,IEEE Trans,On AES,1967,AES-3(3):465-471
[36]陈廷楠,张登成,双欧法与四元素法的应用比较,飞行力学,1996 Vol.14 No.4:59-64
[37]王劲松,王祈,孙圣和无陀螺惯性测量组合的优化算法研究[J],哈尔滨工业大学学报,2003,11(2):48-51
[38]高立,华北工学院硕士学位论文,无陀螺捷联惯性测量技术研究,中北大学,2004
[39]张立,北京航空航天大学学位论文,捷联惯导系统研究及仿真软件包开发,北京航空航天大学,1999
[40]谭庆祥,哈尔滨工程大学学位论文,无陀螺捷联惯导系统误差分析,哈尔滨工程大学,1996
[41] Milker R B.A new strapdown attitude algorithm [J].Journal of Guidance,Control and Dynamics,1983,6(4):287-291
[42]林洪桦,动态测试数据处理,北京理工大学出版社,1995:133-143
[43]杨亚非,吴广玉,任顺清,提高加速度计标定精度的方法,中国惯性技术学报,1998 Vol.6 No.4:98-101
[45]王迪,哈尔滨工程大学学位论文,无陀螺捷联惯性导航技术研究,哈尔滨工程大学,2002
[46]丁明理,王祁.无陀螺惯性测量组合设计及角速度误差补偿方法研究.航空学报.2006,5(27):922-927
[47]丁明理,王祁.提高NGIMU性能的加速度计动态补偿器的研究.传感技术学报.2005,2:292-295
[48]张国良,曾静,邓方林.用四元素法提取加速度计三轴转台测试中的动态误差量[J].中国惯性技术学报,2000,8(3):70-73.
[49]姜复兴,王为阳,吴广玉.捷联陀螺动态误差系数的正交三轴速率试验标定及其试验设计[J].中国惯性技术学报,1997,5(2):32-40.
[2] Alfred R.Schuler,Measuring Rotational Motion with Linear Acceleromters,IEEE Trans,On AES,1967,AES-3(3):465-471
[3]熊永虎,北京理工大学学位论文,弹道修正引信无陀螺捷联惯性测量方法研究,北京理工大学,2001
[4]王晓沁,卜雄洙,朱明武,惯性测量组合的优化设计与误差补偿算法研究,传感器技术,2003,Vol.22,NO.12,34-37
[5] Chin-Woo Tan, Kirill Mostov, and Pravin Varaiya, Feasibility of A Gyroscope-free Inertial Navigation System for Tracking Rigid Body Motion(May 1, 2000),California Partners for Advanced Transit and Highways (PATH), Research Reports: Paper UCB-ITS-PRR-2000-9.
[6] Sungsu Park,Chin-Woo Tan ,A scheme for improving the performance of a gyroscope-free inertial measurememt unit,Sensors and Actuators A 121 (2005) 410-420
[7] W.Ang,P.Khosla,and C.Riviere,Design of All-Accelerometer Inertial Measurement Unit for Tremor Sensing in Hand-held Microsurgical Instrument, IEEE International Conference on Robotics and Automation, IEEE, September, 2003, pp. 1781-1786
[8] Xiaoying Kong. INS algorithm using quaternion model for low cost IMU. Robotics and Autonomous Systems.2004, 46:221-246
[9] Sungsu Park, Chin-Woo Tan, Joohyuk Park. A scheme for improving the performance of a gyroscope-free inertial measurement unit . Sensors and Actuators.2005,121: 410-420
[10] J. Gao . P. Webb, N. Gindy.Research on an inertial positioning systemfor a parallel kinematic machine Mechatronics.2005,15:1-22
[11] Eun-Seok,Wook Chang,Development of the Gyro-free Handwriting Input Device based on Inertial Navigation System (INS) Theory,SICE Annual Conference in Sapporo August 4-6,2004
[12] Yong Li, Andrew Dempster, Binghao Li, A low-cost attitude heading reference system by combination of GPS and magnetometers and MEMS inertial sensors for mobile applications, Proc GNSS 2005, Hong Kong, Dec 8-10 2005
[13] K. Lai and J. Crassidis, University at Buffalo, Amherst, NY; R. Harman, NASA Goddard, Greenbelt, MD, AIAA-2004-4855
[14]闫冬,吉林大学学位论文,基于加速度计的无陀螺惯性导航系统的研究,吉林大学,2003
[15]陈杏圆,梁智惟,无陀螺式之惯性导航系统,中华民航学会联合学术研讨会,2004AASRC/CCAS Joint Conference
[16]王劲松,王祁,孙圣和,无陀螺微惯性测量装置,传感器技术, 2003 Vol.22 No.4:43-45
[17]王晓沁,李永新,朱明武,全加速度计惯性测量的优化设计及仿真分析,弹道学报,2003 Vol.15 No.4:12-16
[18]屈新芬,谭惠民,商顺昌,捷联惯性测量单元配置方案及比较,探测与控制学报,2005 Vol.27 No.3:59-64
[19]何昆鹏,哈尔滨工程大学学位论文,捷联惯导系统姿态角快速对准技术研究,哈尔滨工程大学,2004
[20]赵玉霞,大连理工大学学位论文,捷联惯导系统仿真算法的研究及其实现,大连理工大学,2005
[21]牛绿原,南京理工大学学位论文,捷联惯导方法在发射武器系统中的应用研究,南京理工大学,2007
[22]皮运生,苏州大学学位论文,低成本GPS_SINS组合导航系统,苏州大学,2007
[23]袁信,导航系统[M],北京,航空工业出版社,1993
[24]邓正隆,惯性技术[M],哈尔滨,哈尔滨工业大学出版社,2006
[25]张会新,中北大学学位论文,飞行体姿态测试及仿真技术研究,中北大学,2005
[26]许卫星,中北大学学位论文,基于全加速度计惯性测量系统的理论研究与仿真测试,中北大学,2006
[27]孙金玮.基于总体最小二乘的多功能传感器信号重构方法研究.电子学报.2004,03:391-394
[28]卞峰伟,哈尔滨工业大学学位论文,无陀螺惯性测量单元的信号处理研究,哈尔滨工业大学,2001
[29]马宝国,周世勤,惯性级干涉型光纤陀螺仪研制现状,飞航导弹,1999,(1):23-26
[30] A..Matthews.Utilization of Fiber Optic Gyros in inertial Measurement Units.Navigation.1990.37(1):17-38
[31]杨畅,航天惯性仪表40年与未来趋势,导弹与航天运载技术,2000,(1):35-40[6]http://www.JR3.com/
[32] R.D.Sill±70g Full Scale Accelerometer Designed to Survive 100,000g Overrange.Environmental Engineering.1993,6(4):27-31
[33]张会新,中北大学学位论文,飞行体姿态测试及仿真技术研究,中北大学,2005
[34] L.D.DiNapoli.The Measurement of Angular Velocities without the Use ofGyros.M.S.thesis,The Moore School of Electrical Engineering,University of Pennsylvania, Philadelphia,1965:34-41
[35] Alfred R.Schuler,Measuring Rotational Motion with Linear Acceleromters,IEEE Trans,On AES,1967,AES-3(3):465-471
[36]陈廷楠,张登成,双欧法与四元素法的应用比较,飞行力学,1996 Vol.14 No.4:59-64
[37]王劲松,王祈,孙圣和无陀螺惯性测量组合的优化算法研究[J],哈尔滨工业大学学报,2003,11(2):48-51
[38]高立,华北工学院硕士学位论文,无陀螺捷联惯性测量技术研究,中北大学,2004
[39]张立,北京航空航天大学学位论文,捷联惯导系统研究及仿真软件包开发,北京航空航天大学,1999
[40]谭庆祥,哈尔滨工程大学学位论文,无陀螺捷联惯导系统误差分析,哈尔滨工程大学,1996
[41] Milker R B.A new strapdown attitude algorithm [J].Journal of Guidance,Control and Dynamics,1983,6(4):287-291
[42]林洪桦,动态测试数据处理,北京理工大学出版社,1995:133-143
[43]杨亚非,吴广玉,任顺清,提高加速度计标定精度的方法,中国惯性技术学报,1998 Vol.6 No.4:98-101
[45]王迪,哈尔滨工程大学学位论文,无陀螺捷联惯性导航技术研究,哈尔滨工程大学,2002
[46]丁明理,王祁.无陀螺惯性测量组合设计及角速度误差补偿方法研究.航空学报.2006,5(27):922-927
[47]丁明理,王祁.提高NGIMU性能的加速度计动态补偿器的研究.传感技术学报.2005,2:292-295
[48]张国良,曾静,邓方林.用四元素法提取加速度计三轴转台测试中的动态误差量[J].中国惯性技术学报,2000,8(3):70-73.
[49]姜复兴,王为阳,吴广玉.捷联陀螺动态误差系数的正交三轴速率试验标定及其试验设计[J].中国惯性技术学报,1997,5(2):32-40.