An error compensation method of angular velocity of NGIMU based on grey forecasting theory

作者：Ding Ming Li^*; Wang Qi; Du Zu Liang

来源：Acta Electronica Sinica, 2006, 34(4): 642-646.

• Angular velocity
• Grey forecasting
• Mounting errors
• Nine accelerometer configuration
• Nongyro inertial measurement units

Non-gyro inertial measurement unit (NGIMU) uses only accelerometers replacing gyroscopes to compute the motion of a moving body. Based on the grey forecasting theory, a new compensation method for the angular rate estimating of NGEMU is proposed on the actual condition of existing the accelerometer mounting error, which includes the location error and the angle error. The algorithm gets the compensation equation of the angular rate error using the accelerometer output, and compensates the angular rate in the traditional algorithm using the grey forecasting method. In addition, a new nine-accelerometer configuration of NGIMU is presented, with its experiment system built. The experiment verification of the proposed methods for estimating the angular velocity is also investigated based on the presented NGIMU configuration. The results show the feasibility of the configuration and indicate that in the angle measurement range of ±100 degree, the measurement precision can be improved for 3-4 degree.

• 出版日期2006