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安装误差角引起的加速度计旋转误差建模
15 5 Vol.15 No.5
2007 10 Journal of Chinese Inertial Technology Oct. 2007
· ·
1005-6734(2007)05-0509-03
U666.1 A
Modeling of misalignment-induced accelerometer rotation error
ZHANG Ling-yu, ZHOU Zu-yang, HU Guang-feng, WANG Li-bin
(Beijing Automatic Control Equipment Research Institute, Beijing 100074, China)
Abstract Rotating the inertial platform around the azimuth axis could effectively average out the constant drifts of
gyroscopes. But during the rotation, accelerometers bias error could also be modulated as an installation error, so it
needs to build a model of accelerometer rotation error for compensating. The models of misalignment-induced
accelerometer rotation error were built to improve the performance of error compensation during the rotation of INS.
These models mainly focused on the accelerometer error induced by the installation error during the rotation. One
model is called Angle Superposition Modeling (ASM), the other is called Rotation of Unit Length Vector
Modeling(RVM). The simulation results show that the ASM is effective and feasible.
Key words: inertial navigation platform; installation error; accelerometer; rotation error
H
1 OA A
OA θ
OHAAOA O A
1
θ Fig.1 Sketch diagram of installation error
α
α
2007071720070910
51309020301
1970E-mail navy33_zhou@
510
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