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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2015> 24(2): 151-157
WU Qing-ya, JIA Qing-zhong, SHAN Jia-yuan, MENG Xiu-yun. Novel scheme of high precision inertial measurement for high-speed rotating carriers[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2015, 24(2): 151-157. doi: 10.15918/j.jbit1004-0579.201524.0202
Citation: WU Qing-ya, JIA Qing-zhong, SHAN Jia-yuan, MENG Xiu-yun. Novel scheme of high precision inertial measurement for high-speed rotating carriers[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2015, 24(2): 151-157.doi:10.15918/j.jbit1004-0579.201524.0202
shu

Novel scheme of high precision inertial measurement for high-speed rotating carriers

doi:10.15918/j.jbit1004-0579.201524.0202

  • Key Laboratory of Dynamic and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

  • Received Date:2013-08-23
    Abstract
  • In order to satisfy the requirement of high precision measurement in a high dynamic environment, a kind of gyro aided multi-accelerometer inertial measurement unit (GAMA-IMU) with six accelerometers and two gyros (6A2G) was proposed in this paper. The available configurations have the problem of low measurement precision in a high dynamic environment due to channel coupling. The three channels were decoupled when calculating the angular velocity in the proposed configuration. The yawing and pitching angular velocity were directly measured by gyros, while only the rolling angular velocity was obtained by the GAMA-IMU indirectly from the rolling angular acceleration and quadratic component of rolling angular velocity. Then a single channel rolling angular velocity calculation model was established and the extended Kalman filter (EKF) was used to do state estimation. Simulations were carried out and results indicated that the calculation precision of the proposed 6A2G configuration could meet the demand of high precision measurement for a high-speed rotating carrier.
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