Optimization Design and Calibration of Installation Error Coefficients for Gyroscope-Free Strapdown Inertial Measurement Unit

摘要

A new gyroscope-free inertial measurement technique using nine linear accelerometers is presented in this paper. Based on the characteristic that the calculation error is divergent in time, the calculative method is optimized. With proposed iterative method, the solution of difference equations is corrected; accumulative errors and the shift of the inertial measurement unit are reduced. The feasibility of the design is demonstrated by simulation. Based on error propagation formulas, the allowable range of the error of accelerometers is given. Gyroscope-free inertial navigation measurement unit is very sensitive to installation error of accelerometer, which is shown in simulation results. So in the end error calibration methods of accelerometers caused by installation and scale factor coefficients are presented.