Attitute Measurement And Simulation Of Flying Object Without Gyroscope

As a kind of Inertial navigation systems, strapdown inertial measurement unit featuresusually use gyroscopes to sense angle motion and use accelerometers to sense linearacceleration. However, using single linear accelerometers also may sense both the angularvelocity and the linear acceleration of vehicle, which is the Non-Gyroscopic InertialMeasurement Unit (NGIMU). Replacing gyroscopes with linear accelerometers, not only canmake the cost of the inertial navigation less, but also can overcome the shortcoming thatgyroscopes is not adapted to the great angle motion. Consequently, the NGIMU has alreadybecome a branch of the inertial navigation.The research goal in the paper is modeling the flying attitude of the vehicles withaccelerometer array. By the optimal computing algorithm, the various trajectory parameters,such as the attitude, velocity, rotating speed and position of the vehicles can be acquiredultimately. Such play a key pole during attacking the target for various weapons.Beginning with the Godel's Theorems, the composed expression of the accelerationvector is derived and the correlative parameters are computed with Quaternion Algebraalgorithm. The layout of the accelerometers has many means and the layout methods aboutnine accelerometers are mainly studied. As a example of the flight track of the missile, theacceleration, attitude angle and position are solved.The update computing about spin-quaternion algebra algorithm is indispensable instrapdown inertial measurement unit (IMU). After the comparison of four-order Runge-Kuttaalgorithm and effective spin-vector, it presents that the latter is optimal algorithm forcomputing attitude parameters. In addition noise restraining techniques and the error sourceare analyzed and the corresponding controlling methods are provided.