The Application Of Inertial Measurement System With Single-gyro And Multi-accelerometers For Quadrotor

The traditional strap-down inertial navigation system is used to measure the angular motion and linear motion information of the carrier with gyroscope and accelerometer.The gyro-free inertial measurement system abandoned the gyroscope and it has advantages of low cost,low power consumption and large dynamic range while it has some of the advantages of traditional inertial measurement system.But for gyro-free system,to high precision angular velocity information is obtained by optimization algorithm,the need to greatly increase the number of accelerometer,which increases the cost burden of system and the determination of angular velocity is also a difficult problem.Therefore,system with single-gyro and multi-accelerometers is developed.The accelerometer array is complementary to the gyroscope when solve the angular velocity and angular acceleration.The divergence of system error is well suppressed,and there is no need to add more accelerometers,so its engineering utility value is greatly improved.In this paper,we designed a inertial navigation system with single-gyro and multiaccelerometers in view of the problems existing in the current inertial system.Through the establishment of the system model,the filter design,the software simulation,the combination calibration and the flight experiment,it is proved that the accelerometer array can improve the accuracy of the single-gyro system and realize the complementarity.Especially through accelerometer array,high accuracy angular acceleration information will become easy to obtain which is difficult using the traditional system.It has important significance for control and identification in the four rotor system.