数字罗盘辅助实现MIMU静基座初始对准

针对低成本MIMU中MEMS陀螺精度低,不能独立完成初始方位对准的问题,提出了基于数字罗盘辅助实现MIMU粗对准,再利用UKF方法实现精对准的低成本MIMU初始对准方法。介绍了数字罗盘的基本原理、分析了航向误差的产生原因,给出了基于最小二乘法的误差补偿方案;设计了基于数字罗盘辅助MIMU的粗对准和基于UKF的非线性精对准方案,分析了粗对准精度,建立了包含航向角误差的非线性对准模型;MIMU初始对准仿真结果表明该方法具有满意的对准性能。

Initial Alignment for MIMUon Stationary Base Assisted by Digital Compass

Due to the poor quality of the gyroscopes used in a low cost MIMU, azimuth alignment cannot be accomplished, because the gyro drift exceeds the Earth rotation rate, An initial alignment method for low cost M1MU was proposed based on coarse alignment assisted by digital compass and the fine alignment using UKE The principle and error resources of digital compass were introduced, An error compensation method based on least squares algorithm was studied, The proposed initial alignment approach was studied. The accuracy of coarse alignment was analyzed, and the nonlinear system model including azimuth error was built. The initial alignment of MIMU was simulated. The results indicate the proposed method for initial alignment of low cost MIMU has a good performance.