The Algorithm Research And Application Of Gyro-Free Inertial Measurement

The inertial navigation is a kind of all-around technology which depends on inertial measurement of the carrier to complete navigation mission. It's an autonomic working manner not depending on external information. It has the character of security and immunity to the outside interference such as weather and electron so is widely used in the field of spaceflight and aviation.Usually in the past inertial measurement systems gyros are used to sense angular velocity and accelerometer for linear acceleration. As gyros can't bear large impulse so it's application has limitation in some areas. For accelerometers can also sense angular velocity and bear large impulse with the character of low cost, so the inertial measurement systems based on accelerometers have good application value.In this paper we do some research on gyro-free inertial measurement as follows:We do some researches on the calculation of angular velocity which is quite critical in inertial measurement system and also deduce the output equation of the accelerometers in a specific coordinate. After comparison of different configurations of accelerometers we design a new configuration with twelve accelerometers. We use square items to calculate angular velocity and do some emulation for different calculation with specific accelerometer accuracy.We simply introduce the application of quaternion numbers in inertial measurement, research the calculation of direction cosine array and introduce equal rotating vector to analyze cone error. We also do some emulation on displacement with different algorithms of attitude array in specific condition and analyze the affection of other factors.We do some experiments on the whole system. First we calibrate the accelerometers on dividing head to get the offset and sensitivity, then do the rotation experiments on centrifugal machine and rotating floor. We analyze the errors to get the solution.