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An inertial reference unit (IRU) is a type of inertial sensor which uses gyroscopes (electromechanical, ring laser gyro or MEMS) and accelerometers (electromechanical or MEMS) to determine a moving aircraft’s or spacecraft’s change in rotational attitude (angular orientation relative to some reference frame) and translational position (typically latitude, longitude and altitude) over a period of time. Another name often used interchangeably with IRU is Inertial Measurement Unit.
Disturbance rejection system based on frequency adaptive observation
A disturbance suppression system based on frequency adaptive observation includes an inertial reference unit base and a platform. The platform has a laser and a sensing device. The laser emits laser light when a first motion occurs to measure a first rotation angle, and the sensing device measures a first angular velocity. A control unit obtains a first target angular velocity based on the first rotation angle and a target rotation angle. The disturbance observation unit includes a first observer that obtains a first observation frequency based on the first angular velocity and a first driving voltage; a second observer that generates a first observation angular velocity based on the first angular velocity and the first driving voltage; a control unit that generates a first angular velocity difference based on the first observation angular velocity and the first target angular velocity; a second observer that generates a first compensation angular velocity based on the first angular velocity and the first observation frequency; and a control unit that generates a second driving voltage based on the first compensation angular velocity and the first angular velocity difference. A driver drives the platform to undergo a second motion at the first target angular velocity based on the second driving voltage, and the platform rotates to the target rotation angle.
Owner:TIANJIN UNIV