High-precision scheme of IMU for rotating carrier and denoising method

Abstract

The invention relates to an inertial measurement unit (IMU) for rotating carriers, which mainly designs a high-performance microminiature inertial instrument scheme (mainly composed of parts of three groups of orthogonal gyros formed by four MEMS gyros, three orthogonal quartz digital accelerometers, a structure body, a secondary power supply, a signal processing and communication interface, and the like), and designs the effective compensation of random drift errors of the MEMS gyros by UKF Kalman filtering. The scheme of the invention has the characteristics of wide measuring range, small size, high dynamics, and low weight, is suitable for real-time measurement of flight attitude of a high-speed rotating missile body during a flight process, suitable for position and speed measurement of long-range rocket projectiles, middle and short-range terminal guided ammunition, ground weapon attitude stabilization systems, aerial bomb flight control systems, and unmanned plane heading and attitude systems. The scheme of the invention is also applicable to nuclear submarine strapdown positioning combination, environment swing and inclination measuring systems, inertial motion recording systems of various vehicles and ships, and the like.

Description

technical field [0001] The invention relates to a high-performance micro-miniature inertial instrument scheme and design of UKF Kalman filter to compensate random drift of MEMS gyro to realize accurate measurement of flight attitude, position and speed of rotating bombs. It belongs to the field of navigation and guidance. Background technique [0002] The inertial instrument combined with a gyroscope and an accelerometer is a key component for autonomously measuring the carrier's motion acceleration and attitude information, and calculating the carrier's immediate velocity, position, angular velocity, and angular position through calculations, so that the weapon system can achieve precise strikes. The rotary bomb system is widely used in army ammunition at home and abroad. Its biggest advantage is that it uses high-speed rotation to maintain its flight stability and reduce the landing point error caused by the asymmetry of the aerodynamic shape and mass eccentricity. Small ...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the system is complex, the ineffective weight is increased, and part of the rudder resources are sacrificed

The United States is researching an angular rate gyroscope with a measurement range of 3600° / s and a scale factor error of less than 5PPM, but the cost problem is difficult to solve in the short term

Images