Inertial sensors Aalto（惯性传感器阿尔托）.pdf

Inertial sensors INS = Inertial Navigation System IMU = Inertial Measurement Unit Gyros and acceleration sensors Based on conservation of momentum/inertia or changes of the path length (optical gyros) no external support needed, work everywhere under the known physical laws Jussi Suomela Gyroscopes Non-sensitive to magnetic disturbances = can be used also in environment where the magnetic field is not available Mechanical gyroscopes based on conservation of momentum Measure the changes in linear- or angular momentum Optical gyroscopes no moving parts ⇒ Service free gravitation doesn’t affect ⇒ no need for gimbal mounting Jussi Suomela Gyroscopes There are two basic classes of rotation sensing gyros: Rate gyros the output is relative to the angular speed Rate integrating gyros Indicate the actual turn angle or heading The angle is relative = must be initiallly referenced to a known orientation Angle is anyway integrated from angular speed the primary measuring magnitutude of a gyro is always angular speed!! Jussi Suomela Gyro performance Classification according to bias drift Rate grade 10 – 10000 deg/h Tactical grade 0,01 – 10 deg/h Navigation grade 0,01 deg/h Mechanical, optical (fog, laser ring), MEMS (tuning fork, vibrating ring) Dynamic area: few Hz – 500Hz Jussi Suomela Gyro parameters Check these always! Drift (see previous slide) [deg/h] Max angular speed [deg/s] Dynamic re