Microminiature inertial-combined navigation parameter measuring unit and measuring method thereof

Abstract

The invention provides a microminiature inertial-combined navigation parameter measuring unit and the measuring method thereof. The measuring unit comprises a cubic housing; nine accelerometers are arranged at the four peaks of the three intersectant sides of the cubic housing, and three accelerometers are respectively arranged on each one of the three intersectant sides; the side that is not provided with accelerometers serves as a power module backboard; and a PC 104 motherboard, an AD converter board, a digital compass and a GPS dash receiver are superposed on the power module backboard. The analog information output from each accelerometer is converted into digital signals through the converter board; the digital signals are input into the PC 104 for preprocessing the sampled data; the resolving method of angular motion and linear motion parameters is used for resolving the angular velocity, angular acceleration and linear acceleration; the GPS receives the navigation positioning parameters output from modules and navigation attitude parameters output from the digital compass, and then inputs the parameters into the PC 104; and auxiliary accelerometers measure the information and reckons the ship location. The measuring unit is used for measuring the angular velocity, linear acceleration, location, velocity, heading and horizontal inclination angle of moving carriers.

Description

(1) Technical field [0001] The invention relates to a navigation and positioning parameter measurement device, in particular to a measurement device for measuring the angular velocity, linear acceleration, position, speed, heading and horizontal inclination of a moving carrier. The invention also relates to a method for measuring navigation and positioning parameters. (2) Background technology [0002] The inertial measurement unit is the main device for measuring acceleration and angular velocity in a moving carrier. It is a necessary device to realize inertial navigation by calculating the navigation and positioning parameters of the carrier based on its measured values. The micro-miniature inertial measurement units currently used are composed of silicon micro-gyroscopes and silicon micro-accelerometers. [1-11] , the gyroscope is used to measure the angular velocity of the carrier, and the accelerometer is used to measure the linear acceleration of the carrier. Usually,...

AI Technical Summary

Problems solved by technology

The current angular velocity calculation methods mainly include the square root solution and the integral method of angular acceleration. The former needs to judge the sign, and the latter has error accumulation.

In 2009, Wu Junwei et al. analyzed and designed a tiny inertial measurement device with nine accelerometers [12] , the device can only measure angular velocity, angular acceleration and linear acceleration information, and cannot output navigation positioning parameters and attitude parameters

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