六维加速度传感器的两类解耦算法及其对比研究

摘要

According to the facts that the development of a six-axis accelerometer was limited by technical bottleneck,Newton-Euler equation in configuration-space and Hamilton canonical equa-tion in phase-space were used to derive the complete decoupling algorithms of the six-axis accelera-tion respectively.The advantages of the two algorithms were independent on external devices and un-restricted by the motion law of carriers compared with traditional algorithms.Decoupling mechanism was revealed by contrasting the accuracy,efficiency and numerical stability of the two algorithms qualitatively and quantitatively.Meanwhile,five selection principles of decoupling algorithms were obtained.Physical prototype was installed on a standard vibration exciter,and the experimental re-sults consistent to the theoretical analysis.%针对目前六维加速度传感器在研制过程中遇到的瓶颈，分别在位形空间内运用牛顿-欧拉方程以及在相空间内运用哈密顿正则方程推导出两类关于加速度6个分量的完全解耦算法。与传统算法相比，这两类算法均具有不依赖外部设备、不限制载体运动规律的优点。通过定性和定量对比两类算法数值求解精度、效率和稳定性，揭示了解耦机理，同时得到了六维加速度传感器解耦算法的五点选取原则。将实物样机安装在标准激振器上进行了实验测试，实验结果与理论分析相一致。